Pedaling Motion of a Cycle by Musculoskeletal Humanoid with Adapting Ability Based on an Evaluation of the Muscle Loads

摘要

Adaptation mechanism during motions with some constraints is indispensable function not for destroying the robot itself. Particularly, pedaling motion has a strong constraint for the legs' motion and such kind of adaptation ability is necessary. For realizing adapting ability in a pedaling motion for musculo-skeletal humanoid, monitoring and evaluating function for the muscle load and the reinforcement learning method based on the evaluated muscle loads are developed in this paper. At last feasibility of the proposed system is confirmed by an actual musculo-skeletal humanoid Kenji.