  In this study, seated walk, a movement of walking while sitting on a chair
with casters, is realized on a musculoskeletal humanoid from human teaching.
The body is balanced by using buttock-contact sensors implemented on the planar
interskeletal structure of the human mimetic musculoskeletal robot. Also, we
develop a constrained teaching method in which one-dimensional control command,
its transition, and a transition condition are described for each state in
advance, and a threshold value for each transition condition such as joint
angles and foot contact sensor values is determined based on human teaching.
Complex behaviors can be easily generated from simple inputs. In the
musculoskeletal humanoid MusashiOLegs, forward, backward, and rotational
movements of seated walk are realized.
