打造可重构的肌肉骨骼人形平台，用于学习控制研究。
Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems
- 模块化设计关节、肌肉与弹性单元，支持灵活结构重组
- 构建完整人形平台Musashi，实现全身级肌肉骨骼仿真
- 适用于机器人学习控制、生物力学模拟等研究场景
为开发用于学习控制系统研究的肌肉骨骼人形平台Musashi，我们致力于构建具备柔性肌肉骨骼结构、冗余传感器及易重构特性的身体。为此，设计了可直接测量关节角度的关节模块、可实现多种肌腱路径的肌肉模块，以及具有软结构的非线性弹性单元。随后，开发了仅由关节模块、肌肉模块、通用骨框架、肌丝单元和少量附件组成的MusashiLarm肌肉骨骼平台。最终，将MusashiLarm扩展至全身设计，完成Musashi人形平台的构建，并通过多项基础实验与学习控制实验验证其概念有效性。
原文摘要 · Abstract (English)
To develop Musashi as a musculoskeletal humanoid platform to investigate learning control systems, we aimed for a body with flexible musculoskeletal structure, redundant sensors, and easily reconfigurable structure. For this purpose, we develop joint modules that can directly measure joint angles, muscle modules that can realize various muscle routes, and nonlinear elastic units with soft structures, etc. Next, we develop MusashiLarm, a musculoskeletal platform composed of only joint modules, muscle modules, generic bone frames, muscle wire units, and a few attachments. Finally, we develop Musashi, a musculoskeletal humanoid platform which extends MusashiLarm to the whole body design, and conduct several basic experiments and learning control experiments to verify the effectiveness of its concept.
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