Athlete robot with applied human muscle activation patterns for bipedal running

Ryuma Niiyama, Satoshi Nishikawa, Yasuo Kuniyoshi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

81 Citations (Scopus)

Abstract

The essential component of legged locomotion is control of the ground reaction force. To understand the role of the musculoskeletal body in dynamic locomotion, we investigate bipedal running using a musculoskeletal "Athlete Robot". The configuration of the muscles in the robot is compatible with the human. The spring-like property of the human lower leg during running is modeled as an elastic blade foot based on findings from biomechanics. The motor command of the robot is represented by time series data of muscle activation. The muscle activation patterns are determined from numerical calculation using a model of the musculoskeletal leg based on the measurement of muscle activity and kinetic data of the human movements. In the simulation results, the robot runs 8 steps with a speed of 3 m/s. We also demonstrate that the real bipedal robot is able to run for several steps.

Original languageEnglish
Title of host publication2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
Pages498-503
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 - Nashville, TN, United States
Duration: Dec 6 2010Dec 8 2010

Publication series

Name2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

Conference

Conference2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
CountryUnited States
CityNashville, TN
Period12/6/1012/8/10

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Hardware and Architecture
  • Human-Computer Interaction

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