Humanoids exhibit a wide variety in terms of joint configuration, actuators, and degrees of freedom, resulting in different achievable movements and tasks for each type. Particularly, musculoskeletal humanoids are developed to closely emulate human body structure and movement functions, consisting of a skeletal framework driven by numerous muscle actuators. The redundant arrangement of muscles relative to the skeletal degrees of freedom has been used to represent the flexible and complex body movements observed in humans. However, due to this flexible body and high degrees of freedom, modeling, simulation, and control become extremely challenging, limiting the feasible movements and tasks. In this study, we integrate the musculoskeletal humanoid Musashi with the wire-driven robot CubiX, capable of connecting to the environment, to form CubiXMusashi. This combination addresses the shortcomings of traditional musculoskeletal humanoids and enables movements beyond the capabilities of other humanoids. CubiXMusashi connects to the environment with wires and drives by winding them, successfully achieving movements such as pull-up, rising from a lying pose, and mid-air kicking, which are difficult for Musashi alone. This concept demonstrates that various humanoids, not limited to musculoskeletal humanoids, can mitigate their physical constraints and acquire new abilities by connecting to the environment and driving through wires.

翻译：人形机器人在关节配置、执行器与自由度方面存在广泛差异，导致不同类型机器人可实现的动作与任务各不相同。特别是肌肉骨骼人形机器人，其开发旨在精确模拟人体结构与运动功能，由大量肌肉执行器驱动的骨骼框架构成。肌肉相对于骨骼自由度的冗余排布被用于呈现人类所展现的灵活复杂身体运动。然而，正是由于这种灵活身体结构及高度自由度，其建模、仿真与控制变得极具挑战性，从而限制了可实现的运动与任务。本研究将肌肉骨骼人形机器人Musashi与能够连接环境的线驱机器人CubiX相结合，构建出CubiXMusashi系统。该组合解决了传统肌肉骨骼人形机器人的固有缺陷，并实现了超越其他人形机器人能力的运动。CubiXMusashi通过线缆连接环境并依靠收卷驱动，成功完成了引体向上、卧姿起身及空中踢击等Musashi独立难以实现的动作。这一概念表明，各类人形机器人（不限于肌肉骨骼型）均可通过连接环境并采用线缆驱动的方式，突破其物理限制并获得新的能力。