Muscle-tendon complex control by “Tension controlled Muscle” and “Non-linear Spring Ligament” for real world musculoskeletal body simulator Kenshiro

Abstract

This paper presents a control approach to express muscle-tendon complex in a musculoskeletal humanoid robot. Kenshiro is a full body tendon driven humanoid robot and is designed from the data of average 14 year old Japanese boy. By winding wires by motors we can express the contraction of muscles, and in this paper we introduce novel actuation system… (More)
DOI: 10.1109/BIOROB.2014.6913891

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