TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum (Humanoids 2018) скачать в хорошем качестве

TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum (Humanoids 2018)

Title: TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum as a Learning Control Platform in the Real World with Environmental Physical Contact Authors: Kento Kawaharazuka*, Tasuku Makabe*, Shogo Makino, Kei Tsuzuki, Yuya Nagamatsu, Yuki Asano, Fumihito Sugai, Kei Okada, Koji Kawasaki, Masayuki Inaba (* Equal Contribution) Accepted at Humanoids2018 arxiv - https://arxiv.org/abs/2404.14080 By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a novel humanoid TWIMP, which combines a human mimetic musculoskeletal upper limb with a two-wheel inverted pendulum. By combining the benefit of a musculoskeletal humanoid, which can achieve soft contact with the external environment, and the benefit of a two-wheel inverted pendulum with a small footprint and high mobility, we can easily investigate learning control systems in environments with contact and sudden impact. We reveal our whole concept and system details of TWIMP, and execute several preliminary experiments to show its potential ability.