The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2021
Session ID : 1A1-D07
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Actual Machine Learning of Self-Body Image for Object Manipulation and Posture Generation with Redundancy in Musculoskeletal Humanoid Shoulder Complex
Yuya KOGA*Kento KAWAHARAZUKAYasunori TOSHIMITSUManabu NISHIURAYusuke OMURAYuki ASANOKei OKADAMasayuki INABAKoji KAWASAKI
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Abstract

In this paper, we propose an inverse kinematic posture generation using redundancy in the musculoskeletal humanoid shoulder complex, and actual learning of the self-body image for object manipulation, and confirm its effectiveness by realizing the steering wheel operation of a car.

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© 2021 The Japan Society of Mechanical Engineers
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