Pedaling by a redundant musculo-skeletal humanoid robot
Pedaling by a redundant musculo-skeletal humanoid robot
复制标题
由冗余肌肉骨骼人形机器人踩踏板
DOI：
10.1109/ichr.2005.1573547
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
M. Inaba
中科院分区：
文献类型：
--
作者：
Y. Nakanishi;I. Mizuuchi;T. Yoshikai;T. Inamura;M. Inaba
我们的目标是实现一个类人系统，可以做像人一样的自然运动。脚踏车是一个非常基本的运动，它包含了仿人系统的许多问题，如与环境的相互作用、负载分配的优化等，我们认为仿人系统应该具有更多的冗余性、灵活性和复杂性来解决这些问题。但是，越是冗余的人形的身体变得，越是重要的人形控制的软件系统。提出了一种通过对真实的仿人机器人进行自我重复训练来获取自身身体信息的系统，可用于实现仿人冗余、复杂肌肉骨骼类人机器人的蹬踏。本文讨论了自行车蹬踏的一般问题和自行车训练系统的要求，并介绍了自行车蹬踏所需的硬件设置。并通过实验验证了该系统的可行性
We aim to realize a humanoid system which can do natural motions like human. Pedaling a cycle is a very essential motion including many problems for a humanoid system, such as mutual interaction with environments, optimization of load distribution and so on. We insist that a humanoid should have more redundancy, flexibility and complexity to solve these problems. But, the more redundant a humanoid's body becomes, the more important a software system of a humanoid control is. We present a system which can acquire its own body information by a self repeated training of the real humanoid and can be used for realization of pedaling of a human-like redundant and complicated musculo-skeletal humanoid. This paper discusses general problems of pedaling a cycle and the required specifications of the self-training system and describes the hardware setup required for pedaling. We also carried out some experiments to show the feasibility of this system
影响因子：
2.5
作者：
Lena H. Ting;Steven A. Kautz;David A. Brown;Felix E. Zajac
通讯作者：
Lena H. Ting;Steven A. Kautz;David A. Brown;Felix E. Zajac