Balancing Holding Torque and Dynamic Performance: Air-Lubricated, Friction-Utilizing Shoulder Joint for PAM-Driven Humanoids

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DOI:10.1109/LRA.2026.3701544
作者：Haruka Uehara;Takumi Kawasetsu;Tomoko Hirayama;Koh Hosoda
文献类型：期刊论文
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Institute of Electrical and Electronics Engineers (IEEE)

Abstract：Musculoskeletal humanoids driven by pneumatic artificial muscles (PAMs) offer high adaptability to environmental interactions, but replicating anatomical joint structures poses stability cha

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