通过肌张力与视觉感知，实现仿人机器人精准抓拍动作
Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid
- 用肌张力传感捕捉肌肉拮抗关系
- 用视觉传感校准手部运动轨迹
- 在Kengoro机器人上实现羽毛球击打动作
近年来，关于肌肉骨骼类人机器人的研究正在推进。然而，仍面临身体结构与肌肉路径不可测量、因缺乏关节角度传感器而难以获取自身运动等挑战。本研究提出两种运动获取方法：一是通过张力传感获取肌肉拮抗关系，二是通过视觉传感获取准确的手部轨迹。最终，利用这两种方法实现了Kengoro机器人完成羽毛球击打动作的动态运动。
原文摘要 · Abstract (English)
In recent years, some research on musculoskeletal humanoids is in progress. However, there are some challenges such as unmeasurable transformation of body structure and muscle path, and difficulty in measuring own motion because of lack of joint angle sensor. In this study, we suggest two motion acquisition methods. One is a method to acquire antagonistic relations of muscles by tension sensing, and the other is a method to acquire correct hand trajectory by vision sensing. Finally, we realize badminton shuttlecock-hitting motion of Kengoro with these two acquisition methods.
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