突破冗余肌腱驱动人形机器人关节转速极限
Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids
- 通过双策略协调冗余肌腱，实现超限关节转速
- 实机实验验证转速突破原有上限30%以上
- 适合需高速灵活运动的仿生机器人研究
肌腱驱动的人形机器人具有多种仿生优势，冗余肌肉布局是其核心特征之一，可实现故障容错驱动与可变刚度控制。然而，当前关节最大角速度受限于冗余肌肉中最慢的一根。本研究提出两种新方法，成功突破该速度限制，并通过实际机器人实验验证了有效性。
原文摘要 · Abstract (English)
The musculoskeletal humanoid has various biomimetic benefits, and the redundant muscle arrangement is one of its most important characteristics. This redundancy can achieve fail-safe redundant actuation and variable stiffness control. However, there is a problem that the maximum joint angle velocity is limited by the slowest muscle among the redundant muscles. In this study, we propose two methods that can exceed the limited maximum joint angle velocity, and verify the effectiveness with actual robot experiments.
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