Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors From Human Constrained Teaching
Kento Kawaharazuka,Kei Okada,Masayuki Inaba,Kento Kawaharazuka,Kei Okada,Masayuki Inaba
In this study, seated walk, a movement of walking while sitting on a chair with casters, is realized on a musculoskeletal humanoid from human teaching. The body is balanced by using buttock-contact sensors implemented on the planar interskeletal structure of the human mimetic musculoskeletal robot. Also, we develop a constrained teaching method in which one-dimensional control command, its transit...
