Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids

TL;DR

This paper introduces two novel methods to surpass the joint angle velocity limits in redundant tendon-driven musculoskeletal humanoids, validated through real robot experiments, enhancing biomimetic performance.

Contribution

The paper proposes innovative techniques to exceed maximum joint velocity constraints in redundant tendon-driven structures, addressing a key limitation in biomimetic humanoid design.

Findings

Methods successfully exceeded joint velocity limits in experiments

Enhanced biomimetic joint movement capabilities demonstrated

Potential for improved humanoid robot performance

Abstract

The musculoskeletal humanoid has various biomimetic benefits, and the redundant muscle arrangement is one of its most important characteristics. This redundancy can achieve fail-safe redundant actuation and variable stiffness control. However, there is a problem that the maximum joint angle velocity is limited by the slowest muscle among the redundant muscles. In this study, we propose two methods that can exceed the limited maximum joint angle velocity, and verify the effectiveness with actual robot experiments.