抄録
In this paper, we propose a method to determine optimal multiarticular muscle arrangement for a specific robot motion. We determine optimal multiarticular muscle arrangement using estimation of impulse in a specific robot motion. The impulse is calculated using dynamics modeling which is robot motion modeling and artificial muscle modeling. The robot motion is generated by acceleration control of center of gravity (COG) of the robot. We searched optimal multiarticular muscle arrangement for a specific robot motion from 736,281 of possible muscle arrangement. The found results indicate that there is a better muscle arrangement than human's and animal's one on condition that we focus on a specific motion.
