筋骨格ヒューマノイドの肩複合体における冗長性を活かした姿勢生成と物体操作を目的とした自己身体像の実機学習

抄録

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.