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Musculoskeletal humanoids have been developed by imitating humans and are expected to perform natural and dynamic motions as well as humans. Achieving desired motions stably in current musculoskeletal humanoids is not easy because they cannot maintain the sufficient moment arm of muscles in various postures. In this research, we discuss planar structures that spread across joint structures such as ligament and planar muscles and the application of planar interskeletal structures to humanoid robots. Next, we develop MusashiOLegs, a musculoskeletal legs which has planar interskeletal structures, and conducts several experiments to verify the importance of planar interskeletal structures.
Published in 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids2020)
