The musculoskeletal humanoid can move well under environmental contact thanks to its body softness. However, there are few studies that actively make use of the environment to rest its flexible musculoskeletal body. Also, its complex musculoskeletal structure is difficult to modelize and high internal muscle tension sometimes occurs. To solve these problems, we develop a muscle relaxation control which can minimize the muscle tension by actively using the environment and inhibit useless internal muscle tension. We apply this control to some basic movements, the motion of resting the arms on the desk, and handle operation, and verify its effectiveness.
View on arXiv@article{kawaharazuka2025_2502.16089,
title={ Reflex-based Motion Strategy of Musculoskeletal Humanoids under Environmental Contact Using Muscle Relaxation Control },
author={ Kento Kawaharazuka and Kei Tsuzuki and Moritaka Onitsuka and Yuya Koga and Yusuke Omura and Yuki Asano and Kei Okada and Koji Kawasaki and Masayuki Inaba },
journal={arXiv preprint arXiv:2502.16089},
year={ 2025 }
}