Development of whole-body humanoid “pneumat-BS” with pneumatic musculoskeletal system
Development of whole-body humanoid “pneumat-BS” with pneumatic musculoskeletal system
复制标题
DOI：
10.1109/iros.2011.6095091
复制
发表时间：
2011-12
期刊：
影响因子：
--
通讯作者：
Keita Ogawa;Kenichi Narioka;K. Hosoda
中科院分区：
文献类型：
--
作者：
Keita Ogawa;Kenichi Narioka;K. Hosoda
人体肌肉骨骼系统在完成各种静态和动态任务中发挥着重要作用。从这个观点出发，近年来已经开发了一些肌肉骨骼类人机器人。然而，现有的肌肉骨骼机器人没有具有多个自由度的上身来静态地平衡它们的身体，或者没有足够的力量来执行动态任务。我们认为肌肉骨骼结构有两个重要特性：全身柔韧性和全身协调性。利用这两个性质可以使我们能够使机器人的性能比以前更好。在这项研究中，我们开发了一个人形机器人的肌肉骨骼系统，是由气动人工肌肉驱动。为了证明机器人在静态和动态任务中的能力，我们进行了两个实验。作为一个静态的任务，我们进行了一个站立的实验，使用一个简单的反馈控制和评估的稳定性，通过施加脉冲的机器人。作为一个动态的任务，我们进行了步行实验，使用前馈控制器与人类肌肉激活模式，并确认机器人能够执行动态任务。
The human musculoskeletal system is supposed to play an important role in doing various static and dynamic tasks. From this standpoint, some musculoskeletal humanoid robots have been developed in recent years. However, existing musculoskeletal robots did not have upper body with several DOFs to balance their bodies statically or did not have enough power to perform dynamic tasks. We think the musculoskeletal structure has two significant properties: whole-body flexibility and whole-body coordination. Using these two properties can enable us to make robots' performance better than before. In this study, we developed a humanoid robot with a musculoskeletal system that is driven by pneumatic artificial muscles. To demonstrate the robot's capability in static and dynamic tasks, we conducted two experiments. As a static task, we conducted a standing experiment using a simple feedback control and evaluated the stability by applying an impulse to the robot. As a dynamic task, we conducted a walking experiment using a feedforward controller with human muscle activation patterns and confirmed that the robot was able to perform the dynamic task.