인체근육 구조 인간형 로봇의 모델링 및 구현

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Korean Society for Precision Engineering
Journal of the Korean Society for Precision Engineering 학술저널
한국정밀공학회지 Vol.24 No.2
2007.2 64 - 72 (9page)

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초록·키워드

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Many human-body motions such as walking, running, jumping, etc. require a significant amount of power. To achieve a high power-to-weight ratio ofthe humanoid robot system, this paper proposes a new design of the bio-mimetic leg mechanism resembling musculoskeletal system of the human body. The hip joints of the system considered here are powered by 5 human-like bi- and mono-articular muscles, and the joints of knee and ankle are redundantIy actuated by both bi-articular muscles and joint actuators. The kinematics for the leg mechanism is derived and a kinematic index to measure force transmission ratio is introduced. It is demonstrated through simulation that incorporation of redundant muscles into the leg mechanism enhances the power of the mechanism approximately 2 times of the minimum actuation.

#Redundant Actuation(여유구동) #Humanoid(인간형 로봇) #Kinematics(운동학) #Force transmission ratio(힘전달비) #Musculoskeletal system(근골격형 시스템)