筋骨格車輪ロボットMusashi-Wの実世界応用に向けたハードウェア設計と学習ベースソフトウェアアーキテクチャ
Hardware Design and Learning-Based Software Architecture of Musculoskeletal Wheeled Robot Musashi-W for Real-World Applications
柔軟な筋骨格上半身と車輪ベースを組み合わせたロボットMusashi-Wを開発し、身体スキーマ学習や反射制御、視覚認識を統合したソフトウェアで、清掃や重量物運搬、布操作などの実世界タスクを実現した。
著者: Kento Kawaharazuka, Akihiro Miki, Masahiro Bando, Temma Suzuki, Yoshimoto Ribayashi, Yasunori Toshimitsu, Yuya Nagamatsu, Kei Okada, and Masayuki Inaba
分類: cs.RO
原文アブストラクト
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.
