ICRA 2021poster6 citations
Biomimetic Operational Space Control for Musculoskeletal Humanoid Optimizing Across Muscle Activation and Joint Nullspace
Yasunori Toshimitsu, Kento Kawaharazuka, Manabu Nishiura, Yuya Koga, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki
Abstract
We have implemented a force-based operational space controller on a physical musculoskeletal humanoid robot arm. The controller calculates muscle activations based on a biomimetic Hill-type muscle model. We propose a method to include the joint torque nullspace in the optimization process, which enables the robot to exploit the nullspace to gradually lower its overall muscle activation. We have verified in experiments that it can react compliantly to external disturbances while retaining its operational space task.
BibTeX
@inproceedings{icra2021_biomimeticoperat,
title = {Biomimetic Operational Space Control for Musculoskeletal Humanoid Optimizing Across Muscle Activation and Joint Nullspace},
author = {Yasunori Toshimitsu and Kento Kawaharazuka and Manabu Nishiura and Yuya Koga and Yusuke Omura and Yuki Asano and Kei Okada and Koji Kawasaki and Masayuki Inaba},
booktitle = {ICRA 2021},
year = {2021}
}