Biomimetic Control Scheme for Musculoskeletal Humanoids Based on Motor Directional Tuning in the Brain
Yasunori Toshimitsu,Kento Kawaharazuka,Kei Tsuzuki,Moritaka Onitsuka,Manabu Nishiura,Yuya Koga,Yusuke Omura,Motoki Tomita,Yuki Asano,Kei Okada,Koji Kawasaki,Masayuki Inaba,Yasunori Toshimitsu,Kento Kawaharazuka,Kei Tsuzuki,Moritaka Onitsuka,Manabu Nishiura,Yuya Koga,Yusuke Omura,Motoki Tomita,Yuki Asano,Kei Okada,Koji Kawasaki,Masayuki Inaba
In this research, we have taken a biomimetic approach to the control of musculoskeletal humanoids. A controller was designed based on the motor directional tuning phenomenon seen in the motor cortex of primates. Despite the simple implementation of the control scheme, complex coordinated movements such as reaching for target objects with its upper body was achieved, and is demonstrated in the acco...
