MYOROBOTICS: A modular toolkit for legged locomotion research using musculoskeletal designs

摘要

This abstract introduces the MYOROBOTICS project which aims to spread the use of musculoskeletal robots and to allow innovative research as well as the discovery of application based on this unique design, including in the field of legged locomotion research. The project envisions to provide a modular, configurable, easy-to-use and cost-effective robot construction and development toolkit. The main goal of the kit is to facilitate the construction and development of new control paradigms for musculoskeletal systems. The focus of the present abstract lies on the controller library as well as on the software tools for optimization of robot designs and controllers.