筋骨格ヒューマノイド腕部の筋・関節冗長性を活用したタスク空間における制御

抄録

We have implemented an operational space controller to a musculoskeletal humanoid arm. It can optimize the muscle activation while attaining the desired task, given as the end effector acceleration. We have verified through experiments that it can compliantly adapt to external forces while fulfilling the task, and that it can track hand trajectories even from different joint poses.