Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function

Abstract-- Musculoskeletal humanoids have been developed by imitating humans and expected to perform natural and dynamic motions as well as humans. To achieve desired motions stably in current musculoskeletal humanoids is not easy because they cannot maintain the sufficient moment arm of muscles in various postures. In this research, we discuss planar structures that spread across joint structures such as ligament and planar muscles and the application of planar interskeletal structures to humanoid robots. Next, we develop MusashiOLegs, a musculoskeletal legs which has planar interskeletal structures and conducts several experiments to verify the importance of planar interskeletal structures. I. INTRODUCTION The tendon-driven musculoskeletal humanoids [1], [2] which imitates a human body structure, have muscles around Muskuloskeletal humanoids are designed as a model of human beings and expected to perform as a rigid mechanism. These rigid joints restriction cannot natural and dynamic motions as a human being can do.