Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid

TL;DR

This paper introduces two novel motion acquisition methods for musculoskeletal humanoids, enabling realistic muscle relation modeling and accurate hand trajectory tracking, demonstrated through a badminton hitting motion.

Contribution

It proposes tension sensing for muscle antagonistic relations and vision sensing for hand trajectory, addressing measurement challenges in musculoskeletal humanoids.

Findings

Successful implementation of badminton shuttlecock-hitting motion

Effective acquisition of muscle antagonistic relations

Accurate hand trajectory tracking achieved

Abstract

In recent years, some research on musculoskeletal humanoids is in progress. However, there are some challenges such as unmeasurable transformation of body structure and muscle path, and difficulty in measuring own motion because of lack of joint angle sensor. In this study, we suggest two motion acquisition methods. One is a method to acquire antagonistic relations of muscles by tension sensing, and the other is a method to acquire correct hand trajectory by vision sensing. Finally, we realize badminton shuttlecock-hitting motion of Kengoro with these two acquisition methods.