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MUSBRIC Pneumatic Muscle Building Block Platform Released

1 reports · 1 sources

Qiyao Wang and other authors propose MUSBRIC, a modular hardware platform and accompanying MuJoCo simulator for reconfigurable musculoskeletal robots. Its Lego-compatible end caps turn fiber-reinforced extending pneumatic artificial muscles into plug-and-play reusable muscle modules that can connect directly to standard Lego components. The authors state that an elbow joint prototype validated load-dependent flexion and extension, pulley guidance achieved reversible motion, and mechanical limits stabilized the extended posture; a robotic hand demonstrated compliant grasping and multi-joint construction; 15 leg configurations completed a matching sweep in hardware and simulation, and a four-legged assembly of four legs achieved walking. The hardware design and simulation code will be open-sourced, which the authors state facilitates reproduction and subsequent development.

Report timeline

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

    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.

    arXiv cs.RO ·

Related topics

Grasping and manipulationData and simulationRobot hardware and key componentsResearch papers

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