Motion Modification Method of Musculoskeletal Humanoids by Human Teaching Using Muscle-Based Compensation Control

TL;DR

A method to modify the movement of the musculoskeletal humanoid by applying external force during the movement, taking advantage of its flexible body is described, and its effectiveness is confirmed.

Abstract

While musculoskeletal humanoids have the advantages of various biomimetic structures, it is difficult to accurately control the body, which is challenging to model. Although various learning-based control methods have been developed so far, they cannot completely absorb model errors, and recognition errors are also bound to occur. In this paper, we describe a method to modify the movement of the musculoskeletal humanoid by applying external force during the movement, taking advantage of its flexible body. Considering the fact that the joint angles cannot be measured, and that the external force greatly affects the nonlinear elastic element and not the actuator, the modified motion is reproduced by the proposed muscle-based compensation control. This method is applied to a musculoskeletal humanoid, Musashi, and its effectiveness is confirmed.

Figures (12)

• Figure 1: The overall flow of this study: teaching by humans during the original movement and its reproduction.
• Figure 2: The basic musculoskeletal structure.
• Figure 3: The relationship of $(\bm{\theta}, \bm{f}, \bm{l})$ among original, teaching, and reproduction.
• Figure 4: Experimental setup.
• Figure 5: The procedure in the comparison experiment of motion modification methods.