Design Approach of Biologically-Inspired Musculoskeletal Humanoids

Nakanishi, Yoshinobu; Ohta, Shigeki; Shirai, Tomoyuki; Asano, Yuki; Kozuki, Toyotaka; Kakehashi, Yuriko; Mizoguchi, Hironori; Kurotobi, Tomoko; Motegi, Yotaro; Sasabuchi, Kazuhiro; Urata, Junichi; Okada, Kei; Mizuuchi, Ikuo; Inaba, Masayuki

doi:10.5772/55443

Cited by 57 publications

(30 citation statements)

References 23 publications

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“…In the context of locomotion, robotic systems used biarticular structures with compliant properties of muscles or tendons [124,[130][131][132][133][134][135]. Such designs are inspired by biological bodies [136,137].…”

Section: Control Embodiment Via Compliance and Biarticular Mechanismmentioning

confidence: 99%

Biarticular muscles in light of template models, experiments and robotics: a review

Schumacher

Sharbafi

Seyfarth

et al. 2020

J. R. Soc. Interface.

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Leg morphology is an important outcome of evolution. A remarkable morphological leg feature is the existence of biarticular muscles that span adjacent joints. Diverse studies from different fields of research suggest a less coherent understanding of the muscles' functionality in cyclic, sagittal plane locomotion. We structured this review of biarticular muscle function by reflecting biomechanical template models, human experiments and robotic system designs. Within these approaches, we surveyed the contribution of biarticular muscles to the locomotor subfunctions (stance, balance and swing). While mono-and biarticular muscles do not show physiological differences, the reviewed studies provide evidence for complementary and locomotor subfunction-specific contributions of mono-and biarticular muscles. In stance, biarticular muscles coordinate joint movements, improve economy (e.g. by transferring energy) and secure the zig-zag configuration of the leg against joint overextension. These commonly known functions are extended by an explicit role of biarticular muscles in controlling the angular momentum for balance and swing. Human-like leg arrangement and intrinsic (compliant) properties of biarticular structures improve the controllability and energy efficiency of legged robots and assistive devices. Future interdisciplinary research on biarticular muscles should address their role for sensing and control as well as non-cyclic and/or non-sagittal motions, and non-static moment arms. royalsocietypublishing.org/journal/rsif J. R. Soc. Interface 17: 20180413 royalsocietypublishing.org/journal/rsif J. R. Soc. Interface 17: 20180413

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Section: Control Embodiment Via Compliance and Biarticular Mechanismmentioning

confidence: 99%

Biarticular muscles in light of template models, experiments and robotics: a review

Schumacher

Sharbafi

Seyfarth

et al. 2020

J. R. Soc. Interface.

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“…In this method, unique design approaches were presented based on musculoskeletal systems [31]. Some example robots designed with this approach are the Kenta (123 cm, 80 DOF), Kotaro (130 cm, 69 DOF), Kenzoh (135 cm, 58 DOF) and Kenshiro (90 cm, 46 DOF) robots.…”

Section: Bioinspired Musculoskeletal Design Approachmentioning

confidence: 99%

HBS-1: A Modular Child-Size 3D Printed Humanoid

Larkin

Potnuru

et al. 2016

Robotics

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An affordable, highly articulated, child-size humanoid robot could potentially be used for various purposes, widening the design space of humanoids for further study. Several findings indicated that normal children and children with autism interact well with humanoids. This paper presents a child-sized humanoid robot (HBS-1) intended primarily for children's education and rehabilitation. The design approach is based on the design for manufacturing (DFM) and the design for assembly (DFA) philosophies to realize the robot fully using additive manufacturing. Most parts of the robot are fabricated with acrylonitrile butadiene styrene (ABS) using rapid prototyping technology. Servomotors and shape memory alloy actuators are used as actuating mechanisms. The mechanical design, analysis and characterization of the robot are presented in both theoretical and experimental frameworks.

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“…However, to our best knowledge no research has focused on the role of the thigh for biped locomotion. While the HRP-4C [29] and Kenshiro humanoid [30] robot seem to visually have a morphology design close to the thigh shape of Poppy, they did not study, in the associated scientific papers the role of this shape on the dynamic of their humanoid robot.…”

Section: Related Workmentioning

confidence: 99%

Poppy humanoid platform: Experimental evaluation of the role of a bio-inspired thigh shape

Lapeyre

Oudeyer

2013

2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

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Abstract-In this paper, we present an experimental evaluation of the role of the morphology in the Poppy humanoid platform. More precisely, we have investigated the impact of the bio-inspired thigh, bended of 6 o , on the balance and biped locomotion. We compare this design with a more traditional straight thigh. We describe both the theoretical model and real experiments showing that the bio-inspired thigh allows the reduction of falling speed by almost 60% (single support phase) and the decrease of the lateral motion needed for the mass transfer from one foot to the other by 30% (double support phase). We also present an experiment where the robot walks on a treadmill thanks to the social and physical guidance of expert users and we show that the bended thigh reduces the upper body motion by about 45% indicating a more stable walk.

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Design Approach of Biologically-Inspired Musculoskeletal Humanoids

Cited by 57 publications

References 23 publications

Biarticular muscles in light of template models, experiments and robotics: a review

Biarticular muscles in light of template models, experiments and robotics: a review

HBS-1: A Modular Child-Size 3D Printed Humanoid

Poppy humanoid platform: Experimental evaluation of the role of a bio-inspired thigh shape

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