Applications of Stretch Reflex for the Upper Limb of Musculoskeletal Humanoids: Protective Behavior, Postural Stability, and Active Induction

Kento Kawaharazuka; Yuya Koga; Kei Tsuzuki; Moritaka Onitsuka; Yuki Asano; Kei Okada; Koji Kawasaki; Masayuki Inaba

IROS 2020poster3 citations

Applications of Stretch Reflex for the Upper Limb of Musculoskeletal Humanoids: Protective Behavior, Postural Stability, and Active Induction

Kento Kawaharazuka, Yuya Koga, Kei Tsuzuki, Moritaka Onitsuka, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba

Abstract

The musculoskeletal humanoid has various biomimetic benefits, and it is important that we can embed and evaluate human reflexes in the actual robot. Although stretch reflex has been implemented in lower limbs of musculoskeletal humanoids, we apply it to the upper limb to discover its useful applications. We consider the implementation of stretch reflex in the actual robot, its active/passive applications, and the change in behavior according to the difference of parameters.

BibTeX

@inproceedings{iros2020_applicationsofst,
  title = {Applications of Stretch Reflex for the Upper Limb of Musculoskeletal Humanoids: Protective Behavior, Postural Stability, and Active Induction},
  author = {Kento Kawaharazuka and Yuya Koga and Kei Tsuzuki and Moritaka Onitsuka and Yuki Asano and Kei Okada and Koji Kawasaki and Masayuki Inaba},
  booktitle = {IROS 2020},
  year = {2020}
}