Automatic parameter adjustment of reflexive walking of a musculo-skeletal humanoid
Automatic parameter adjustment of reflexive walking of a musculo-skeletal humanoid
复制标题
肌肉骨骼类人反射行走的自动参数调整
DOI：
10.1109/ichr.2008.4755925
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
M. Inaba
中科院分区：
文献类型：
--
作者：
Kazuo Hongo;Y. Nakanishi;Y. Namiki;I. Mizuuchi;M. Inaba
人形机器人需要机械灵活性、冗余性、多自由度等。由于坚硬沉重的身体会伤害人体或周围物体，因此日常生活中需要多自由度和灵活性。一种新的肌肉骨骼类人dasiaKojiropsila是这些需求的答案之一。它具有这些物理特性。如何移动这个复杂的身体结构是一个具有挑战性的主题。特别是运动生成本身只利用部分信息，具有很强的多样性，在多样化的环境中有很好的应用前景。本文介绍了利用足部六维力传感器实现小次郎行走和调节自身参数的方法。
Humanoid robots need mechanical flexibility, redundancy, multiple degrees of freedom, and so on. Because the hard and heavy body can hurt human or surrounding objects, multiple degrees of freedom and flexibility are needed in a daily life. A novel musculo-skeletal humanoid dasiaKojiropsila is one of the answer to these demand. It has those physical characteristics. How to move this complex bodily structure is a challenging theme. Especially motion generation using only partial information by itself make actional multiplicity, it will be useful in diversified environment. This paper presents the approach to make Kojiro walk and make Kojiro adjust self-parameter to walk using 6-axis force sensors in the feet.