# MUSBRIC: LEGO-Compatible Pneumatic Muscle Modules for Reconfigurable Musculoskeletal Robots

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/uiohnbbdrnlyqvzv9gu0m4yt1
- Original: https://arxiv.org/abs/2610.40285

## Summary

The authors present MUSBRIC, a modular hardware platform and accompanying MuJoCo simulator for reconfigurable musculoskeletal robots, which uses LEGO-compatible endcaps to turn fiber-reinforced extensile pneumatic artificial muscles into reusable, plug-and-play muscle modules. An elbow-joint prototype validated load-dependent flexion and extension, with pulley-guided routing enabling reversible motion and a mechanical stop stabilizing the straight posture; a robotic hand demonstrated compliant grasping and multi-joint construction, 15 leg configurations completed matched sweeps in hardware and simulation, and a quadruped assembled from four legs achieved walking. The hardware design and simulation code will be open-sourced.