Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids
Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids
复制标题
考虑肌肉骨骼类人动物额外肌肉的自适应身体模式学习系统
DOI：
10.1109/lra.2022.3147457
复制
发表时间：
2022
影响因子：
5.2
通讯作者：
Inaba Masayuki
中科院分区：
文献类型：
--
作者：
Kawaharazuka Kento;Miki Akihiro;Toshimitsu Yasunori;Okada Kei;Inaba Masayuki
One of the important advantages of musculoskeletal humanoids is that the muscle arrangement can be easily changed and the number of muscles can be increased according to the situation. In this study, we describe an overall system of muscle addition for musculoskeletal humanoids and the adaptive body schema learning while taking into account the additional muscles. For hardware, we describe a modular body design that can be fitted with additional muscles, and for software, we describe a method that can learn the changes in body schema associated with additional muscles from a small amount of motion data. We apply our method to a simple 1-DOF tendon-driven robot simulation and the arm of the musculoskeletal humanoid Musashi, and show the effectiveness of muscle tension relaxation by adding muscles for a high-load task.
