学習制御模索のためのモジュラー型筋骨格プラットフォームの設計開発

抄録

In this study, we develop MusashiLarm, TWIMP, and Musashi, as hardware platforms to investigate learning control systems of musculoskeletal structures, such as self-body image acquisition. First, we develop sphere-shaped joint modules which can directly measure joint angles, compact muscle modules including muscle tension measurement units, actuators, circuits, etc., compact and reliable nonlinear elastic units using grommet structures, standardized muscle relay units, and so on. Second, we develop MusashiLarm composed of only joint modules, muscle modules, muscle wire units, generic bone frames, and a few attachments, TWIMP which has high mobility by using an inverted pendulum as its lower limb, and Musashi which extends MusashiLarm to its whole body design.