Three-Dimensional Muscle Arrangement and Dynamic Walking of Musculoskeletal Humanoid

Humans have the highly-complicated musculoskeletal body structure and perform adaptive behavior. To investigate the advantages of this structure, we built a whole-body musculoskeletal humanoid with pneumatic artificial muscles. The skeletal structure and muscle arrangement of the robot are three-dimensionally designed to be similar to those of humans, especially in the lower body. Taking advantage of the human-like structure of the robot, we conducted a walking experiment. To make muscle activation patterns, we use a human EMG patterns. As a result, if the structure of the robot is close to that of humans, we found the motion of the robot can be easily created and realized dynamic walking.