Athlete robot with applied human muscle activation patterns for bipedal running

Ryuma Niiyama, Satoshi Nishikawa, Yasuo Kuniyoshi

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

87 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
ページ498-503
ページ数6
DOI
出版ステータス出版済み - 2010
外部発表はい
イベント2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 - Nashville, TN, 米国
継続期間: 12月 6 201012月 8 2010

出版物シリーズ

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

会議

会議2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
国/地域米国
CityNashville, TN
Period12/6/1012/8/10

!!!All Science Journal Classification (ASJC) codes

  • 人工知能
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用

フィンガープリント

「Athlete robot with applied human muscle activation patterns for bipedal running」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル