TY - GEN
T1 - Athlete robot with applied human muscle activation patterns for bipedal running
AU - Niiyama, Ryuma
AU - Nishikawa, Satoshi
AU - Kuniyoshi, Yasuo
PY - 2010
Y1 - 2010
N2 - The essential component of legged locomotion is control of the ground reaction force. To understand the role of the musculoskeletal body in dynamic locomotion, we investigate bipedal running using a musculoskeletal "Athlete Robot". The configuration of the muscles in the robot is compatible with the human. The spring-like property of the human lower leg during running is modeled as an elastic blade foot based on findings from biomechanics. The motor command of the robot is represented by time series data of muscle activation. The muscle activation patterns are determined from numerical calculation using a model of the musculoskeletal leg based on the measurement of muscle activity and kinetic data of the human movements. In the simulation results, the robot runs 8 steps with a speed of 3 m/s. We also demonstrate that the real bipedal robot is able to run for several steps.
AB - The essential component of legged locomotion is control of the ground reaction force. To understand the role of the musculoskeletal body in dynamic locomotion, we investigate bipedal running using a musculoskeletal "Athlete Robot". The configuration of the muscles in the robot is compatible with the human. The spring-like property of the human lower leg during running is modeled as an elastic blade foot based on findings from biomechanics. The motor command of the robot is represented by time series data of muscle activation. The muscle activation patterns are determined from numerical calculation using a model of the musculoskeletal leg based on the measurement of muscle activity and kinetic data of the human movements. In the simulation results, the robot runs 8 steps with a speed of 3 m/s. We also demonstrate that the real bipedal robot is able to run for several steps.
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U2 - 10.1109/ICHR.2010.5686316
DO - 10.1109/ICHR.2010.5686316
M3 - Conference contribution
AN - SCOPUS:79851483211
SN - 9781424486885
T3 - 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
SP - 498
EP - 503
BT - 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
T2 - 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
Y2 - 6 December 2010 through 8 December 2010
ER -