Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems
Kento Kawaharazuka, Shogo Makino, Kei Tsuzuki, Moritaka Onitsuka, Yuya Nagamatsu, Koki Shinjo, Tasuku Makabe, Yuki Asano
Abstract
To develop Musashi as a musculoskeletal humanoid platform to investigate learning control systems, we aimed for a body with flexible musculoskeletal structure, redundant sensors, and easily reconfigurable structure. For this purpose, we develop joint modules that can directly measure joint angles, muscle modules that can realize various muscle routes, and nonlinear elastic units with soft structures, etc. Next, we develop MusashiLarm, a musculoskeletal platform composed of only joint modules, muscle modules, generic bone frames, muscle wire units, and a few attachments. Finally, we develop Musashi, a musculoskeletal humanoid platform which extends MusashiLarm to the whole body design, and conduct several basic experiments and learning control experiments to verify the effectiveness of its concept.
BibTeX
@inproceedings{iros2019_componentmodular,
title = {Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems},
author = {Kento Kawaharazuka and Shogo Makino and Kei Tsuzuki and Moritaka Onitsuka and Yuya Nagamatsu and Koki Shinjo and Tasuku Makabe and Yuki Asano and Kei Okada and Koji Kawasaki and Masayuki Inaba},
booktitle = {IROS 2019},
year = {2019}
}