2P1-A13 Achievement of Twist Squat by Musculoskeletal Humanoid with Screw-Home Mechanism(Humanoid)

Abstract

Human knee joint have rotational DOF and its locking mechanism called screw-home mechanism. We focus on the mechanism and implement it to musculoskeletal humanoid as hardware design. As evaluation, we checked moment arm for rotational axis of knee which decided by muscle attachment points and joint rotational axis. It increases in proportion to flexion position of knee joint. Also we checked angle displacement during squat motion. We confirmed that the mechanism worked properly. Moreover, we conducted several motions in which are using yaw DOF derived from the mechanism, knee joint Open-Close, Right-to-Left motion and twist squat motion. As a result, we achieved human-like twisting motion and feasibility of musculoskeletal humanoid with the mechanism.