1A2-M02 Motion Control Based on Modification of the Jacobian Map between the Muscle Space and the Work Space with Musculoskeletal Humanoid(Humanoid(2))

Abstract

Many Robots need body calibrations when their physical parameters are changed. This is because their motions are created with absolute variables such as position and orientation of their links. In this paper, we propose following methods using the musculoskeletal humanoid Kojiro. First, We apply a body control method with a jacobian map between muscle space and work space, which is made with relative variables. Second, we apply a pose estimation by observing own motion with its eyes to get relations between the pose and the environment. By these methods, we achieved the robots' motion control without calibrations even when it's physical parameters are changed.