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arXiv Open Access 2024

Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems

Kento Kawaharazuka Shogo Makino Kei Tsuzuki Moritaka Onitsuka Yuya Nagamatsu +6 lainnya
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Abstrak

To develop Musashi as a musculoskeletal humanoid platform to investigate learning control systems, we aimed for a body with flexible musculoskeletal structure, redundant sensors, and easily reconfigurable structure. For this purpose, we develop joint modules that can directly measure joint angles, muscle modules that can realize various muscle routes, and nonlinear elastic units with soft structures, etc. Next, we develop MusashiLarm, a musculoskeletal platform composed of only joint modules, muscle modules, generic bone frames, muscle wire units, and a few attachments. Finally, we develop Musashi, a musculoskeletal humanoid platform which extends MusashiLarm to the whole body design, and conduct several basic experiments and learning control experiments to verify the effectiveness of its concept.

Topik & Kata Kunci

cs.RO

Penulis (11)

K

Kento Kawaharazuka

S

Shogo Makino

K

Kei Tsuzuki

M

Moritaka Onitsuka

Y

Yuya Nagamatsu

K

Koki Shinjo

T

Tasuku Makabe

Y

Yuki Asano

K

Kei Okada

K

Koji Kawasaki

M

Masayuki Inaba

Format Sitasi

APA MLA BibTeX
Kawaharazuka, K., Makino, S., Tsuzuki, K., Onitsuka, M., Nagamatsu, Y., Shinjo, K. et al. (2024). Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems. https://arxiv.org/abs/2410.22000

Akses Cepat

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Informasi Jurnal
Tahun Terbit
2024
Bahasa
en
Sumber Database
arXiv
Akses
Open Access ✓