解析仿人肌肉结构特性，指导机器人控制与适应性设计
Characteristics, Management, and Utilization of Muscles in Musculoskeletal Humanoids: Empirical Study on Kengoro and Musashi
- 提出五类肌肉结构特性：冗余、独立性、各向异性等
- 揭示多特性组合带来的控制优势与挑战
- 适合仿生机器人控制与自适应系统研究者
迄今已开发出多种仿人肌骨骼机器人，并开展了大量关于控制机制的研究，以充分发挥其生物仿生结构的优势。然而，对于这些肌骨骼结构固有的多样特性，以及如何管理与利用它们，尚缺乏充分且统一的讨论。因此，本研究基于自主研发的肌骨骼人形机器人Kengoro和Musashi，对肌肉特性及其管理与利用方法进行了分类分析。将肌骨骼结构特征归纳为五类：冗余性、独立性、各向异性、可变力矩臂和非线性弹性。进一步整理了由这些特性组合带来的多样化优劣势。重点探讨了身体图式学习与反射控制，以及肌肉分组与身体图式自适应问题。同时描述了通过集成系统实现运动的具体方法，并讨论了未来挑战与前景。
原文摘要 · Abstract (English)
Various musculoskeletal humanoids have been developed so far, and numerous studies on control mechanisms have been conducted to leverage the advantages of their biomimetic bodies. However, there has not been sufficient and unified discussion on the diverse properties inherent in these musculoskeletal structures, nor on how to manage and utilize them. Therefore, this study categorizes and analyzes the characteristics of muscles, as well as their management and utilization methods, based on the various research conducted on the musculoskeletal humanoids we have developed, Kengoro and Musashi. We classify the features of the musculoskeletal structure into five properties: Redundancy, Independency, Anisotropy, Variable Moment Arm, and Nonlinear Elasticity. We then organize the diverse advantages and disadvantages of musculoskeletal humanoids that arise from the combination of these properties. In particular, we discuss body schema learning and reflex control, along with muscle grouping and body schema adaptation. Also, we describe the implementation of movements through an integrated system and discuss future challenges and prospects.
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