Development of Musculoskeletal-like Robots Based on the Motion Mechanisms of Musculoskeletal Structures

2020 Fiscal Year Final Research Report

• Project/Area Number: 19K20378
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 61050:Intelligent robotics-related
• Research Institution: Kindai University
• Principal Investigator: Matsutani Yuki 近畿大学, 工学部, 講師 (80757120)
• Project Period (FY): 2019-04-01 – 2021-03-31
• Keywords: 筋骨格構造 / 受動歩行

Outline of Final Research Achievements

The purpose of this study is to clarify that the musculoskeletal structure contributes to skillful movements. In this study, a model of a musculoskeletal-like passive walking robot is constructed, and a walking generation method using the muscular internal force is proposed. The proposed method enables the robot to walk on a slope with a small inclined angle that the link model finds difficult to walk. Further, a method to determine the muscular internal force based on joint stiffness for a musculoskeletal arm is proposed. The proposed method can independently control the response and stiffness at a desired position.

Free Research Field

ロボット工学

Academic Significance and Societal Importance of the Research Achievements

本研究の成果は，複雑な実時間の計算や高価な計測システムを必要とせず，脊椎動物のような巧みな運動を実現できるロボットシステムの開発に必要な要素技術である．脊椎動物が有する筋骨格構造の構造上の特徴や機能を理解してロボットに応用することで，筋骨格構造を用いたロボットの基盤技術確立に役立てることができる．