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Musculoskeletal Wheeled Robot Musashi-W for Real-World Applications (Humanoids 2022)
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- Опубликовано: 18 мар 2024
- Title: Hardware Design and Learning-Based Software Architecture of Musculoskeletal Wheeled Robot Musashi-W for Real-World Applications
Authors: Kento Kawaharazuka, Akihiro Miki, Masahiro Bando, Temma Suzuki, Yoshimoto Ribayashi, Yasunori Toshimitsu, Yuya Nagamatsu, Kei Okada, Masayuki Inaba
Accepted at Humanoids2022
arxiv - arxiv.org/abs/...
Various musculoskeletal humanoids have been developed so far. While these humanoids have the advantage of their flexible and redundant bodies that mimic the human body, they are still far from being applied to real-world tasks. One of the reasons for this is the difficulty of bipedal walking in a flexible body. Thus, we developed a musculoskeletal wheeled robot, Musashi-W, by combining a wheeled base and musculoskeletal upper limbs for real-world applications. Also, we constructed its software system by combining static and dynamic body schema learning, reflex control, and visual recognition. We show that the hardware and software of Musashi-W can make the most of the advantages of the musculoskeletal upper limbs, through several tasks of cleaning by human teaching, carrying a heavy object considering muscle addition, and setting a table through dynamic cloth manipulation with variable stiffness.
Looks like a very practical arm-hand design particularly because it's quiet (noise free) pneumatics
Good to see u guys again! I always thinking about yours musculoskeletal robot everyday 😂 fr
It really inspired me for the field of robotics, from the biotechnology and agriculture technology background me. Your works are what changed my life and my goals for the field of humanoid robots
I believe that many people have become overly focused on bi-pedal robots. Too much of their time must be spent on balance and gait... they should pay attention to what you are doing, and start with an easy to manoeuvre, stable platform.
My only reservation with your design is the use of mecanum wheels; they are perfect for smooth surfaces, and are the best choice for that environment. For rough terrain I favour four whegs (wheeled legs), with roller-blade sized wheels.
Having said that, I have not watched any other of your videos, but now I have found you I most certainly will! Liked and Subscribed.
they did that, in the 80s
Look like stop motion animation 😁
Air "muscles" have been around forever, and they've gone nowhere because they suck.