TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum as a Learning Control Platform in the Real World with Environmental Physical Contact
<|reference_start|>TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum as a Learning Control Platform in the Real World with Environmental Physical Contact: By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a novel humanoid TWIMP, which combines a human mimetic musculoskeletal upper limb with a two-wheel inverted pendulum. By combining the benefit of a musculoskeletal humanoid, which can achieve soft contact with the external environment, and the benefit of a two-wheel inverted pendulum with a small footprint and high mobility, we can easily investigate learning control systems in environments with contact and sudden impact. We reveal our whole concept and system details of TWIMP, and execute several preliminary experiments to show its potential ability.<|reference_end|>
@article{kawaharazuka2024twimp:,
    title={TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum as a Learning Control
  Platform in the Real World with Environmental Physical Contact},
    author={Kento Kawaharazuka, Tasuku Makabe, Shogo Makino, Kei Tsuzuki, Yuya
  Nagamatsu, Yuki Asano, Takuma Shirai, Fumihito Sugai, Kei Okada, Koji
  Kawasaki, Masayuki Inaba},
    journal={arXiv preprint arXiv:2404.14080},
    year={2024},
    doi={10.1109/HUMANOIDS.2018.8624923},
    archivePrefix={arXiv},
    eprint={2404.14080},
    primaryClass={cs.RO}
}