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arXiv Open Access 2025

Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids

Kento Kawaharazuka Yuya Koga Kei Tsuzuki Moritaka Onitsuka Yuki Asano +3 lainnya
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Abstrak

The musculoskeletal humanoid has various biomimetic benefits, and the redundant muscle arrangement is one of its most important characteristics. This redundancy can achieve fail-safe redundant actuation and variable stiffness control. However, there is a problem that the maximum joint angle velocity is limited by the slowest muscle among the redundant muscles. In this study, we propose two methods that can exceed the limited maximum joint angle velocity, and verify the effectiveness with actual robot experiments.

Topik & Kata Kunci

cs.RO

Penulis (8)

K

Kento Kawaharazuka

Y

Yuya Koga

K

Kei Tsuzuki

M

Moritaka Onitsuka

Y

Yuki Asano

K

Kei Okada

K

Koji Kawasaki

M

Masayuki Inaba

Format Sitasi

APA MLA BibTeX
Kawaharazuka, K., Koga, Y., Tsuzuki, K., Onitsuka, M., Asano, Y., Okada, K. et al. (2025). Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids. https://arxiv.org/abs/2502.12808

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Informasi Jurnal
Tahun Terbit
2025
Bahasa
en
Sumber Database
arXiv
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Open Access ✓