Design Optimization of Musculoskeletal Humanoids with Maximization of Redundancy to Compensate for Muscle Rupture
Kento Kawaharazuka,Yasunori Toshimitsu,Manabu Nishiura,Yuya Koga,Yusuke Omura,Yuki Asano,Kei Okada,Koji Kawasaki,Masayuki Inaba,Kento Kawaharazuka,Yasunori Toshimitsu,Manabu Nishiura,Yuya Koga,Yusuke Omura,Yuki Asano,Kei Okada,Koji Kawasaki,Masayuki Inaba
Musculoskeletal humanoids have various biomimetic advantages, and the redundant muscle arrangement allowing for variable stiffness control is one of the most important. In this study, we focus on one feature of the redundancy, which enables the humanoid to keep moving even if one of its muscles breaks, an advantage that has not been dealt with in many studies. In order to make the most of this adv...