MUSBRIC：再構成可能な筋骨格ロボットのためのLEGO互換空気圧筋ブロック
MUSBRIC: LEGO-Compatible Pneumatic Muscle Bricks for Reconfigurable Musculoskeletal Robots
繊維強化空気圧人工筋をLEGO互換のエンドキャップで再利用可能な「筋ブロック」にし、MuJoCoシミュレータと組み合わせて筋骨格ロボットを再構成可能にした研究。肘・ロボットハンド・脚15構成の探索・四足歩行で有効性を示す。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Qiyao Wang, Yinglei Zhu, Liang Zhou, Wenzhe Gong, Xin-Jun Liu, Huichan Zhao
分類: cs.RO
原文アブストラクト
Musculoskeletal robots combine compliant actuators with articulated skeletons, but exploring alternative configurations often requires repeated fabrication. We present MUSBRIC, a modular hardware platform and accompanying MuJoCo-based simulator for reconfigurable musculoskeletal robots. LEGO-compatible endcaps turn fiber-reinforced extensile pneumatic artificial muscles into reusable, plug-and-play muscle bricks that connect directly to standard LEGO components. Experimentally identified actuator behavior supports corresponding musculoskeletal simulations. An elbow-joint prototype validates load-dependent flexion and extension, showing that pulley-guided routing enables reversible motion and a mechanical stop stabilizes the straight posture. A robotic hand demonstrates compliant grasping and multi-joint construction. Matched hardware and simulation sweeps across 15 leg configurations demonstrate systematic exploration of attachment geometry, while a quadruped assembled from four legs demonstrates walking. Together, these demonstrations span mechanism analysis, configuration exploration, and functional robot construction within a single reconfigurable system. The hardware designs and simulation code will be released as open source soon to facilitate reproduction and further development.
