Various musculoskeletal humanoids have been developed so far, and numerous studies on control mechanisms have been conducted to leverage the advantages of their biomimetic bodies. However, there has not been sufficient and unified discussion on the diverse properties inherent in these musculoskeletal structures, nor on how to manage and utilize them. Therefore, this study categorizes and analyzes the characteristics of muscles, as well as their management and utilization methods, based on the various research conducted on the musculoskeletal humanoids we have developed, Kengoro and Musashi. We classify the features of the musculoskeletal structure into five properties: Redundancy, Independency, Anisotropy, Variable Moment Arm, and Nonlinear Elasticity. We then organize the diverse advantages and disadvantages of musculoskeletal humanoids that arise from the combination of these properties. In particular, we discuss body schema learning and reflex control, along with muscle grouping and body schema adaptation. Also, we describe the implementation of movements through an integrated system and discuss future challenges and prospects.

翻译：迄今为止，已开发出多种肌肉骨骼仿人机器人，并开展了大量控制机制研究以发挥其仿生结构的优势。然而，对于这些肌肉骨骼结构固有的多样化特性，以及如何管理与利用这些特性，尚未形成充分且统一的讨论。因此，本研究基于我们开发的肌肉骨骼仿人机器人Kengoro和Musashi所开展的各项研究，对肌肉特性及其管理与利用方法进行分类分析。我们将肌肉骨骼结构的特征归纳为五种属性：冗余性、独立性、各向异性、可变力臂和非线性弹性。进而系统梳理了由这些属性组合所产生的肌肉骨骼仿人机器人的多样化优势与局限。特别地，我们探讨了身体图式学习与反射控制，以及肌肉分组与身体图式适应方法。同时，我们描述了通过集成系统实现运动控制的具体方案，并对未来挑战与发展前景进行了讨论。