通过主动振动感知环境接触，实现仿人机器人稳定性和运动扩展
Stability Recognition with Active Vibration for Bracing Behaviors and Motion Extensions Using Environment in Musculoskeletal Humanoids
- 主动振动身体部位，通过传感器变化判断稳定性
- 在真实机器人Musashi上验证，可有效识别环境交互状态
- 适合研究仿生机器人稳定性与环境交互的团队
尽管柔性躯体机器人在接触适应性方面优于传统刚体机器人，但精确控制仍具挑战。人类常借助周围环境稳定身体并控制动作。本研究提出一种利用环境进行支撑与运动范围扩展的方法，针对肌肉骨骼型仿人机器人。关键在于准确识别与环境接触时的身体稳定性，为此开发了一种通过主动振动身体局部并测量传感器值变化来评估稳定性的方法。实验在肌肉骨骼机器人Musashi上进行，结果验证了该方法的有效性。
原文摘要 · Abstract (English)
Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of the surrounding environments to stabilize their bodies and control their movements. In this study, we propose a method for the bracing motion and extension of the range of motion using the environment for the musculoskeletal humanoid. Here, it is necessary to recognize the stability of the body when contacting the environment, and we develop a method to measure it by using the change in sensor values of the body when actively vibrating a part of the body. Experiments are conducted using the musculoskeletal humanoid Musashi, and the effectiveness of this method is confirmed.
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