Modification of muscle antagonistic relasions and hand trajectory on dynamic motion of Musculoskeletal Humanoid

Abstract

In recent years, researches on musculoskeletal humanoids are on the march. However, there are some challenges such as unmeasurable transformation of body structure and muscle path, and difficulty in measuring own motion because of lack of joint angle sensor. In this study, we suggest two motion acquisition methods. One is a method to acquire antagonistic relations of muscles, and the other is a method to acquire correct hand trajectory by visual feedback. Finally, we realize badminton shuttle-hitting motion of “Kengoro” by applying two acquisition methods.