Various musculoskeletal humanoids have been developed so far. While these humanoids have the advantage of their flexible and redundant bodies that mimic the human body, they are still far from being applied to real-world tasks. One of the reasons for this is the difficulty of bipedal walking in a flexible body. Thus, we developed a musculoskeletal wheeled robot, Musashi-W, by combining a wheeled base and musculoskeletal upper limbs for real-world applications. Also, we constructed its software system by combining static and dynamic body schema learning, reflex control, and visual recognition. We show that the hardware and software of Musashi-W can make the most of the advantages of the musculoskeletal upper limbs, through several tasks of cleaning by human teaching, carrying a heavy object considering muscle addition, and setting a table through dynamic cloth manipulation with variable stiffness.

翻译：迄今为止，已开发出多种肌肉骨骼类人机器人。尽管这类机器人具有模仿人体的柔顺与冗余结构优势，但距离实际应用仍存在较大差距，其原因之一在于柔性躯体的双足行走实现难度较高。为此，我们通过结合轮式底盘与肌肉骨骼上肢，开发了面向现实场景应用的轮式肌肉骨骼机器人Musashi-W。同时，通过整合静态与动态身体图式学习、反射控制及视觉识别技术，构建了其软件系统。通过人类示教的清洁任务、考虑肌肉附加的负重搬运任务，以及利用变刚度动态布料操作完成餐桌布置任务，我们证明了Musashi-W的软硬件系统能够充分发挥肌肉骨骼上肢的优势。