Although we are rarely aware of it, the human arm is much more dexterous and flexible than today’s robotic manipulators. This is believed to be strongly influenced by the body structure composed of bones and muscles. This structure is called the musculoskeletal structure, and it enables dexterous and flexible movements by making good use of the characteristics of muscles that are sometimes soft and sometimes strong. Our laboratory aims to realize human-like flexible movements by using robots with musculoskeletal structures. Since there are still many unknowns about how humans move their muscles, we are exploring control methods for human-like flexible movements from the viewpoint of robotics.
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