MUSBRIC: LEGO-Compatible Pneumatic Muscle Bricks for Reconfigurable Musculoskeletal Robots
MUSBRIC: LEGO-Compatible Pneumatic Muscle Bricks for Reconfigurable Musculoskeletal Robots
This paper introduces MUSBRIC, a modular hardware platform featuring LEGO-compatible pneumatic muscle bricks designed for reconfigurable musculoskeletal robots. The system includes a MuJoCo-based simulator validated against experimental actuator behavior. Demonstrations include an elbow-joint prototype showing load-dependent motion and a quadruped walker assembled from four legs. The project aims to facilitate systematic exploration of attachment geometries and functional robot construction, with hardware designs and simulation code planned for open-source release.
The authors present a modular hardware platform and MuJoCo-based simulator for reconfigurable musculoskeletal robots, validated by prototypes including an elbow joint and a quadruped walker.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
leg configurations
15
View original evidence
t grasping and multi-joint construction. Matched hardware and simulation sweeps across 15 leg configurations demonstrate systematic exploration of attachment geometry, while a quadruped assembled from four legs demonstrates walking. Together, these demonstrations span mechanism analysis, configuration exploration, and functional robot construction within a single reconfigurable system. The hardware designs and simula
Open source S4
- code: Reported pending Open source S5
- weights: not_reported
- dataset: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
t grasping and multi-joint construction. Matched hardware and simulation sweeps across 15 leg configurations demonstrate systematic exploration of attachment geometry, while a quadruped assembled from four legs demonstrates walking. Together, these demonstrations span mechanism analysis, configuration exploration, and functional robot construction within a single reconfigurable system. The hardware designs and simula
Open source S4
cles into reusable, plug-and-play muscle bricks that connect directly to standard LEGO components. Experimentally identified actuator behavior supports corresponding musculoskeletal simulations. An elbow-joint prototype validates load-dependent flexion and extension, showing that pulley-guided routing enables reversible motion and a mechanical stop stabilizes the straight posture. A robotic hand demonstrates complian
Open source S3
arXiv:2610.40285v2 Announce Type: replace Abstract: Musculoskeletal robots combine compliant actuators with articulated skeletons, but exploring alternative configurations often requires repeated fabrication. We present MUSBRIC, a modular hardware platform and accompanying MuJoCo-based simulator for reconfigurable musculoskeletal robots. LEGO-compatible endcaps turn fiber-reinforced extensile pneumatic artificial mus
Open source S2
tion code will be released as open source soon to facilitate reproduction and further development.
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org