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Humans can walk stably and adaptively in the presence of various environmental changes. Their bodies have very complex musculoskeletal structures that contribute to their walking stability and adaptability. In this paper, we focus on the gluteus medius, one of muscles contributing to the support of the pelvis. The gluteus medius supports the pelvis when the leg is in a standing position, but it should...
In this paper, we propose a design of a robotic ankle-foot complex based on the human functional-anatomic ankle-foot structure. The proposed foot consists of three links, two joints, and four plantar muscles, whose mechanical stiffness can be controlled by utilizing McKibben pneumatic actuators. With this structure, a deformable medial longitudinal arch in a human foot can be emulated. We developed...
This paper aims to clarify the mechanism of an infant's locomotive development from the viewpoint of cognitive developmental robotics. We built up an infant-sized musculoskeletal robot driven by McKibben pneumatic actuators, which enable the robot to interact with its environment without any problems of mechanical damage and excessive heat in long-term experiments. We applied a learning algorithm...
Many researchers are interested in the onset and learning of bipedal walking, but still not much is known how a human (and even a robot) can acquire the ability. In this paper, we hypothesize that external rotation of the hip joint plays an essential role for emergence of bipedal walking in human infancy. We build an infant robot “Pneu-born 13” driven by pneumatic artificial muscles so that we would...
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