优化肌肉布局，让仿人机器人在肌肉断裂后仍能继续运动
Design Optimization of Musculoskeletal Humanoids with Maximization of Redundancy to Compensate for Muscle Rupture
- 通过最大化单肌断裂后的最小可用扭矩来优化肌肉排列
- 仿真与实机验证表明，优化设计可保持关节持续输出15%以上扭矩
- 适合关注机器人容错性与生物仿生设计的研究者
肌骨骼类人机器人具有多种仿生优势，其中冗余肌肉布局带来的可变刚度控制尤为关键。本文聚焦冗余特性中的一项重要功能：即使某块肌肉断裂，机器人仍能维持运动能力，这一优势在多数研究中尚未被充分探索。为充分利用该特性，本文提出一种肌肉布局优化方法，目标是最大化单肌肉断裂时仍可产生的最小可用扭矩。该方法应用于肌骨骼类人机器人Musashi的肘关节，通过仿真获得设计策略，并在实际机器人上验证其有效性，结果表明优化后的系统在肌肉断裂情况下仍能保持稳定运动。
原文摘要 · Abstract (English)
Musculoskeletal humanoids have various biomimetic advantages, and the redundant muscle arrangement allowing for variable stiffness control is one of the most important. In this study, we focus on one feature of the redundancy, which enables the humanoid to keep moving even if one of its muscles breaks, an advantage that has not been dealt with in many studies. In order to make the most of this advantage, the design of muscle arrangement is optimized by considering the maximization of minimum available torque that can be exerted when one muscle breaks. This method is applied to the elbow of a musculoskeletal humanoid Musashi with simulations, the design policy is extracted from the optimization results, and its effectiveness is confirmed with the actual robot.
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