基于人类约束示教的带臀接触传感器肌肉骨骼人形机器人实现坐姿行走
Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors From Human Constrained Teaching
AI总结：
本研究通过人类约束示教和臀接触传感器，在肌肉骨骼人形机器人MusashiOLegs上实现了坐姿行走的前进、后退与旋转运动。
摘要：
本研究在肌肉骨骼人形机器人上，通过人类示教实现了坐姿行走——一种坐在带脚轮椅子上移动的运动方式。身体平衡通过安装在仿人肌肉骨骼机器人平面骨骼间结构上的臀接触传感器来实现。此外，我们开发了一种约束示教方法，在该方法中，预先为每个状态描述一维控制指令、其转移过程以及转移条件，并基于人类示教确定每个转移条件的阈值，例如关节角度和足部接触传感器值。复杂行为可以轻松地从简单输入中生成。在肌肉骨骼人形机器人MusashiOLegs上，实现了坐姿行走的前进、后退和旋转运动。
英文摘要：
In this study, seated walk, a movement of walking while sitting on a chair with casters, is realized on a musculoskeletal humanoid from human teaching. The body is balanced by using buttock-contact sensors implemented on the planar interskeletal structure of the human mimetic musculoskeletal robot. Also, we develop a constrained teaching method in which one-dimensional control command, its transition, and a transition condition are described for each state in advance, and a threshold value for each transition condition such as joint angles and foot contact sensor values is determined based on human teaching. Complex behaviors can be easily generated from simple inputs. In the musculoskeletal humanoid MusashiOLegs, forward, backward, and rotational movements of seated walk are realized.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
