Musculoskeletal Humanoids and Space Exploration Robotics: Emerging Trends

Recent advancements in the fields of musculoskeletal humanoids and space exploration robotics are pushing the boundaries of what is possible with flexible, adaptable, and robust robotic systems. The integration of soft gripping technologies and adaptive body schema learning systems is enabling robots to navigate complex terrains and perform high-precision tasks with unprecedented dexterity. Key innovations include the development of gripping systems that leverage segmented tendon-driven fingers and microspines for enhanced adhesion on rocky surfaces, as well as methods for dynamically updating the body schema of musculoskeletal humanoids to accommodate additional muscles and external forces. These advancements are particularly significant for space exploration, where robots must operate in environments that are both unpredictable and challenging.

In the realm of musculoskeletal humanoids, the focus is shifting towards creating systems that can learn and adapt to changes in their physical configuration, such as the addition of new muscles or the application of external forces. This adaptive learning is crucial for maintaining control and precision in tasks that require high load handling or complex object manipulation. The use of muscle-based compensation control and inverse kinematics with redundancy in shoulder complexes is demonstrating promising results in replicating human-like movements and improving task performance.

For space exploration robots, the emphasis is on developing end effectors that can effectively interact with granular materials, such as lunar soil, to enable climbing and walking in soft terrain. The study of gripper sinkage in granular materials is providing valuable insights into how to design and control these end effectors for optimal performance in lunar environments.

Noteworthy Papers

• Soft Gripping System for Space Exploration Legged Robots: Introduces a novel gripping system with segmented tendon-driven fingers and microspines, demonstrating significant potential for advanced space exploration tasks.
• Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids: Proposes a system for learning changes in body schema due to muscle addition, showcasing the adaptability of musculoskeletal humanoids.
• Bipedal walking with continuously compliant robotic legs: Presents a groundbreaking design for bipedal robots with continuously compliant legs, enhancing locomotion efficiency and stability.