Biomimetic design and implementation of muscle arrangement around hip joint for musculoskeletal humanoid

Our laboratory has tackled the composition theory approach of clarifying the structure in the human body by imitating it. Focusing on the hip joint, which has many complex muscle groups, we estimated and implemented 15 muscles to restrict the hip joint. However, it was difficult to implement such a quantity muscles to musculoskeletal humanoid because motor space is limited and the frame must have strength. In this paper, we propose new design and implementation methodology of musculoskeletal humanoids. First, we propose the biomimetic design of the hybrid pelvis, which uses metal and resin. Second, to arrange the muscles in a way similar to a human, we propose the human mimetic muscle arrangement by using the internal organ space. As a result, we developed the high-strength and biologically inspired pelvis, and achieved human-like muscle attachment layout and muscle arrangement.