This study presents the realization of seated walk, a movement of walking while sitting on a chair with casters, on a musculoskeletal humanoid robot called MusashiOLegs. The key aspects are:
Implementation of buttock-contact sensors on the planar interskeletal structure of the robot's body to measure the contact force between the robot and the chair. This enables balance control during seated walk.
Development of a constrained teaching method (CTM) where the robot's motion is described by one-dimensional control commands, their transitions, and transition conditions. Only the threshold values of the transition conditions are learned from human teaching, simplifying the teaching process.
Experiments demonstrating the robot's ability to perform forward, backward, and rotational movements during seated walk by combining the taught motions. The robot can execute the reproduced motions at a faster speed compared to the teaching.
Evaluation of the importance of the buttock-contact balance control, which is crucial for translational movements but less significant for rotational movements.
Demonstration of the robot carrying an object by integrating the seated walk motions, showcasing the potential for practical applications.
The key contribution is the realization of seated walk, an underexplored locomotion mode, on a musculoskeletal humanoid robot using a novel teaching method and balance control approach.
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