通过肌肉放松控制，让柔性人形机器人主动借力环境减少内部张力。
Reflex-based Motion Strategy of Musculoskeletal Humanoids under Environmental Contact Using Muscle Relaxation Control
- 利用环境接触主动放松肌肉，降低内部张力
- 在桌面放臂和操作任务中验证了有效性
- 适合需要柔顺交互的复杂场景应用
由于身体柔软性，肌腱驱动人形机器人能在环境接触下良好运动。然而，很少有研究主动利用环境来缓解其柔韧本体的负担。此外，其复杂的肌腱结构难以建模，常导致过高的内部肌肉张力。为此，我们提出一种肌肉放松控制策略，通过主动利用环境来最小化肌肉张力，并抑制无意义的内部张力。该方法应用于基本动作，如将手臂放置于桌面及手部操作任务中，并验证了其有效性。
原文摘要 · Abstract (English)
The musculoskeletal humanoid can move well under environmental contact thanks to its body softness. However, there are few studies that actively make use of the environment to rest its flexible musculoskeletal body. Also, its complex musculoskeletal structure is difficult to modelize and high internal muscle tension sometimes occurs. To solve these problems, we develop a muscle relaxation control which can minimize the muscle tension by actively using the environment and inhibit useless internal muscle tension. We apply this control to some basic movements, the motion of resting the arms on the desk, and handle operation, and verify its effectiveness.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。