Realization of large joint movement while standing by a musculoskeletal humanoid using its spine and legs coordinately

摘要

We are developing the novel musculoskeletal humanoid that is able to do coordinated motion with arms, legs and spine. In this research, we present how to realize largely bending/extending motion while standing using spine and hip joints of a fullbody musculoskeletal humanoid, which has a complicated body like a human, such as over 90 muscles and about 60 DOFs. And we propose how to generate coordinated motions of spine and hip joints and how to control such a complicated humanoid in order to keep standing during its motion. Furthermore, we confirmed that this robot could bend/extend its spine and hip joints coordinately while standing by some experiments.