Biomechanical Approach to Open-Loop Bipedal Running with a Musculoskeletal Athlete Robot

DOI Web Site 被引用文献18件
  • Ryuma Niiyama
    a Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02129, USA;, Email: ryuma@csail.mit.edu
  • Satoshi Nishikawa
    b Graduate School of Interdisciplinary Information Studies, University of Tokyo, Bunkyo-ku, Tokyo 113-0033, Japan
  • Yasuo Kuniyoshi
    c Graduate School of Information Science and Technology, University of Tokyo, Bunkyo-ku, Tokyo 113-0033, Japan

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説明

In this study, a musculoskeletal robot is used as a tool to investigate how animals control their complex body. Sprinting is a challenging task that requires maximizing the potential resources of a musculoskeletal structure. Our approach to robotic sprinting is the Athlete Robot — a musculoskeletal robot with elastic blade feet controlled by feedforward motor command. We use a catapult launcher to provide a stable start to a sprint, and then examine the relation between the initial velocity imparted by the launcher and the change in orientation of the robot. We also investigate the influence of the change in elasticity of the blade foot. The results show that acceleration causes anterior inclination after the first step. The elasticity of the foot dominates the duration of the support phase. The musculoskeletal system of the Athlete Robot is modified to suit catapulted running. Based on the results from real robot experiments, we can provide a consistent propelling force using the catapult launcher. We de...

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