Biomimetic Control Scheme for Musculoskeletal Humanoids Based on Motor Directional Tuning in the Brain
Yasunori Toshimitsu, Kento Kawaharazuka, Kei Tsuzuki, Moritaka Onitsuka, Manabu Nishiura, Yuya Koga, Yusuke Omura, Motoki Tomita
Abstract
In this research, we have taken a biomimetic approach to the control of musculoskeletal humanoids. A controller was designed based on the motor directional tuning phenomenon seen in the motor cortex of primates. Despite the simple implementation of the control scheme, complex coordinated movements such as reaching for target objects with its upper body was achieved, and is demonstrated in the accompanying video. The controller does not require an internal model, and instead constantly observes its body in relation to the external world to update motor commands. We claim that such an embodied approach to the control of musculoskeletal robots will be able to effectively take advantage of their complex bodies to achieve motion.
BibTeX
@inproceedings{iros2020_biomimeticcontro,
title = {Biomimetic Control Scheme for Musculoskeletal Humanoids Based on Motor Directional Tuning in the Brain},
author = {Yasunori Toshimitsu and Kento Kawaharazuka and Kei Tsuzuki and Moritaka Onitsuka and Manabu Nishiura and Yuya Koga and Yusuke Omura and Motoki Tomita and Yuki Asano and Kei Okada and Koji Kawasaki and Masayuki Inaba},
booktitle = {IROS 2020},
year = {2020}
}