Musclle Api Animation
%20using%20a%20neural%20network%20(NN)%2C%20which%20expresses%20a%20nonlinear%20relationship%20between%20joint%20angles%20and%20muscle%20lengths%2C%20and%20aim%20to%20move%20tendon-driven%20musculoskeletal%20humanoids%20accurately%20by%20updating%20the%20JMM%20online%20from%20data%20of%20the%20actual%20robot.%20In%20this%20study%2C%20the%20JMM%20is%20updated%20online%20by%20using%20the%20vision%20of%20the%20robot%20so%20that%20it%20moves%20to%20the%20correct%20position%20(Vision%20Updater).%20Also%2C%20we%20execute%20another%20update%20to%20modify%20muscle%20antagonisms%20correctly%20(Antagonism%20Updater).%20By%20using%20these%20two%20updaters%2C%20the%20error%20between%20the%20target%20and%20actual%20joint%20angles%20decrease%20to%20about%2040%25%20in%205%20minutes%2C%20and%20we%20show%20through%20a%20manipulation%20experiment%20that%20the%20tendon-driven%20musculoskeletal%20humanoid%20Kengoro%20becomes%20able%20to%20move%20as%20intended.%20This%20novel%20system%20can%20adapt%20to%20the%20state%20change%20and%20growth%20of%20robots%2C%20because%20it%20updates%20the%20JMM%20online%20successively.)
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