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.

翻译：摘要：随着机器学习在机器人领域的广泛应用，亟需开发一种能够在真实世界中通过与环境接触实现动作、感知与学习的人形机器人。本研究提出一种新型人形机器人TWIMP，它将仿人肌肉骨骼上肢与双轮倒立摆相结合。通过融合肌肉骨骼人形机器人（可实现与外部环境的柔性接触）与双轮倒立摆（占地面积小、机动性强）的优势，我们能够便捷地研究在存在接触与突发冲击环境中的学习控制系统。本文阐述了TWIMP的整体设计理念与系统细节，并通过多项初步实验验证其潜在能力。