Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems

Kawaharazuka, Kento; Kawasaki, Koji; Inaba, Masayuki; Makino, Shogo; Tsuzuki, K.; Onitsuka, Moritaka; Nagamatsu, Yuya; Shinjo, Koki; Makabe, Tasuku; Asano, Yuki; Okada, Kei

doi:10.1109/iros40897.2019.8968068

Cited by 45 publications

(41 citation statements)

References 16 publications

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“…We employed nitrile rubber O-rings ( Fig. 11), which have nonlinear elasticity [30], [31]. Since the slope of the force-displacement curve of O-rings increases gradually, the stiffness by antagonistic wires increases as its displacement increases.…”

Section: B Variable Stiffnessmentioning

confidence: 99%

Switching Between Continuum and Discrete States in a Continuum Robot With Dislocatable Joints

Kanada

Mashimo

2021

IEEE Access

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Rigid linkages allow robots to lift heavy loads but prevent them from gently stretching and bending their bodies. Continuum robots without rigid linkages have a wide range of motion, safety, shape adaptability, and compliance. To combine the benefits of both continuum and rigid robots, we propose a method of switching between discrete and continuum states by a dislocatable joint. This mechanism is driven by three wires. It has a cup joint in an upper section and a ball joint in a lower section, and the two sections are connected by a spring. The cup and ball joints are separated, and the manipulator is a flexible continuum one. When the wires through the sections are pulled, the two joints are connected as a discrete state. To clarify the design methodology of the manipulator, we build a model of the joint and consider three collision cases in the simulation and experiment. The model reveals the relationship between the robot's shape parameters and the manipulator's range of motion, and it visualizes an area where the positioning is uncertain due to the collision between the ball and cup joints. We build a prototype manipulator and experimentally verify that the stiffness is improved by the connection. INDEX TERMS Continuum robots, discrete robots, dislocatable joints, variable stiffness. I. INTRODUCTION Conventional industrial robots require a high level of stiffness to execute tasks with agility and accuracy in manufacturing. These robots are actuated in confined spaces separately from workers because of their use of rigid linkages, which enable them to handle heavy load tasks. Manipulators using elastic components, e.g., series elastic actuators [1], have been deemed safe and have contributed to work in close proximity with humans in factories [2], [3]. Continuum robots, which are continuously curved manipulators that are flexible and compliant, are examples of safe robots. Soft continuum robots are inherently safe because of soft and lightweight structures that are either wire driven [4]-[6] or pneumatically controlled [7]-[9]. High flexibility is a considerable advantage but reduces accuracy and payload. Variable stiffness mechanisms have much potential for applications that require safety and large payloads. Granular jamming is a well-known variable stiffness mechanism The associate editor coordinating the review of this manuscript and approving it for publication was Yingxiang Liu .

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Section: B Variable Stiffnessmentioning

confidence: 99%

Switching Between Continuum and Discrete States in a Continuum Robot With Dislocatable Joints

Kanada

Mashimo

2021

IEEE Access

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“…We demonstrate the hardware overview of the developed musculoskeletal humanoid Musashi [9] in Figures 2 and 3. Currently, Musashi has 74 muscles and 39 joints, excluding the hand.…”

Section: Hardware Detailsmentioning

confidence: 99%

“…We can express all the basic human joints by rearranging two center parts and three axis parts. A [17], and (e) the NEU [9]. DoF: degrees of freedom.…”

Section: Hardware Detailsmentioning

confidence: 99%

“…Although various kinds of humanoid robots exist, one that imitates the human actuation system is the musculoskeletal humanoid [6]- [9]. The musculoskeletal humanoid is actuated not by motors arranged at each axis but by pneumatic actua tors or muscle actuators with motors that imitate human muscles.…”

Section: Introductionmentioning

confidence: 99%

“…In particu lar, we describe the characteristics of the hardware and learn ingbased software to move the flexible body. We reconsider the developed hardware [9], [11]- [13] and software [14]- [16] in the context of autonomous driving. Also, we develop the respective components of autonomous driving and conduct experiments integrating them using the hardware and soft ware characteristics.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software

Kawaharazuka

Tsuzuki

Koga

et al. 2020

IEEE Robot. Automat. Mag.

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This paper summarizes an autonomous driving project by musculoskeletal humanoids. The musculoskeletal humanoid, which mimics the human body in detail, has redundant sensors and a flexible body structure. These characteristics are suitable for motions with complex environmental contact, and the robot is expected to sit down on the car seat, step on the acceleration and brake pedals, and operate the steering wheel by both arms. We reconsider the developed hardware and software of the musculoskeletal humanoid Musashi in the context of autonomous driving. The respective components of autonomous driving are conducted using the benefits of the hardware and software. Finally, Musashi succeeded in the pedal and steering wheel operations with recognition.

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System Architecture and Real-World Task Realization of Musculoskeletal Wheeled Robot Musashi-W with Various Hardware Components

Miki,

Kawaharazuka,

Bando

et al. 2024

Lecture Notes in Networks and Systems

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Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems

Cited by 45 publications

References 16 publications

Switching Between Continuum and Discrete States in a Continuum Robot With Dislocatable Joints

Switching Between Continuum and Discrete States in a Continuum Robot With Dislocatable Joints

Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software

System Architecture and Real-World Task Realization of Musculoskeletal Wheeled Robot Musashi-W with Various Hardware Components

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