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arXiv Open Access 2024

Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid

Yuya Koga Kento Kawaharazuka Moritaka Onitsuka Tasuku Makabe Kei Tsuzuki +4 lainnya
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Abstrak

In recent years, some research on musculoskeletal humanoids is in progress. However, there are some challenges such as unmeasurable transformation of body structure and muscle path, and difficulty in measuring own motion because of lack of joint angle sensor. In this study, we suggest two motion acquisition methods. One is a method to acquire antagonistic relations of muscles by tension sensing, and the other is a method to acquire correct hand trajectory by vision sensing. Finally, we realize badminton shuttlecock-hitting motion of Kengoro with these two acquisition methods.

Topik & Kata Kunci

cs.RO

Penulis (9)

Y

Yuya Koga

K

Kento Kawaharazuka

M

Moritaka Onitsuka

T

Tasuku Makabe

K

Kei Tsuzuki

Y

Yusuke Omura

Y

Yuki Asano

K

Kei Okada

M

Masayuki Inaba

Format Sitasi

APA MLA BibTeX
Koga, Y., Kawaharazuka, K., Onitsuka, M., Makabe, T., Tsuzuki, K., Omura, Y. et al. (2024). Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid. https://arxiv.org/abs/2412.00737

Akses Cepat

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