Motor Directional Tuning現象に基づく筋張力制御による筋骨格ヒューマノイドの上肢動作

抄録

The motor directional tuning phenomenon that can be seen in the brain of primates suggests that the arm’s movement direction is one of the most important parameters in reaching movements. In this research, we have created a controller based on this phenomenon, and applied it to a musculoskeletal robot arm. The controller does not have an internal model, and provides a mapping from movement direction to muscle commands. Despite a relatively simple control scheme, the controller has achieved performance comparable to a model-based controller, and achieved efficient usage of the complex musculoskeletal robot body.