While Figure 02 is working at the BMW factory, this humanoid robot, developed by Japanese researchers, boasts an anatomically correct tendon-driven musculoskeletal system. What the group discovered was that by moving a tendon-driven musculoskeletal humanoid using the tendon wire lengths of the geometric model, unintended muscle tension and slack emerges.
This slack can lead to the wreckage of the actual robot in some cases. To solve this issue, the researchers focused on reciprocal innervation in the human nervous system, and then implemented antagonist inhibition control (AIC) based on the reflex. It is this control that makes it possible to avoid unnecessary internal muscle tension and slack of tendon wires caused by model error, and to perform wide range motion safely for a long time, such as attempting a pull-up.
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To verify its effectiveness, we applied AIC to the upper limb of the tendon-driven musculoskeletal humanoid, Kengoro, and succeeded in dangling for 14 minutes and doing pull-ups,” said the researchers.
