Biomimetic Operational Space Control for Musculoskeletal Humanoid Optimizing Across Muscle Activation and Joint Nullspace
Yasunori Toshimitsu Kento Kawaharazuka Manabu Nishiura Yuya Koga Yusuke Omura Yuki Asano Kei Okada Koji Kawasaki Masayuki Inaba Yasunori Toshimitsu Kento Kawaharazuka Manabu Nishiura Yuya Koga Yusuke Omura Yuki Asano Kei Okada Koji Kawasaki Masayuki Inaba
We have implemented a force-based operational space controller on a physical musculoskeletal humanoid robot arm. The controller calculates muscle activations based on a biomimetic Hill-type muscle model. We propose a method to include the joint torque nullspace in the optimization process, which enables the robot to exploit the nullspace to gradually lower its overall muscle activation. We have ve...