ヒト型ロボットアームによる随意運動生成
Generation of voluntarv movements humanoid robotic arm

Kiyoshi Hoshino
2001 ITE Technical Report  
Ill tllis study , the author used a humanoid robotic ann wiUl rubber musdes whose musde −− skeleton structure was equal to that of the llulllal1 , for the purpose of ull〔 lerstandil ユ g precise and complicated vohllltary movelllellts produced l ) y hunian brain . First , respollses wllicll resembled primitive re 且exes observed ill t! 1e humau infallt 、丶 ・ ere gellerated by tlle robotic arlll , and output pattenls of hu111all CNS to eacll muscles were estimated . Thel1 , magllitllde and time −
more » ... lated paralneters of the output patterns were challged , so as to experimentally examille llow much precise and compLicated the behavior of the robot II彑 ay becollle iII its VOIUntarvT IIIOVelnelltS , key wQrdg hu111auoid robotic ar111 , nlbber muscle , pril 皿 itive re 且ex , hunlall illfarlt , volulltary lnovellle ユ 1t 67
doi:10.11485/itetr.25.29.0_67 fatcat:jwtfwvtujjdchnsoj4hj2do52i