2P1-C19 Musculo-Skeletal Humanoid's obtaining contact constraint motion by teaching poses using muscule tension control.

Abstract

Musculo-Skeletal Humanoid has a humanlike articular structure body and redundant actuators. Musculo-Skeletal Humanoid has advantage in touching objects by controlling its tendon tension flexibly. However, its own complex body structure makes it difficult to adjust humanoid's inner coordinate to real world coordinate. To solve the issue, we focused attention on the motion when human touch or trace objects. We apply a restrain condition estimation method using the musculo-skeletal humanoid's tension control to realize operating target objects. The aim of this paper is to show that Musculo-Skeletal Humanoid can generate motions associated with touching unknown objects by being taught poses.