MUSBRIC: LEGO-Compatible Pneumatic Muscle Bricks for Reconfigurable Musculoskeletal Robots
Overview
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.
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Event evidence and corrections
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Reported quantity · leg configurations: 15 other · Basis not reported
“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”
Exact source · revision 2Source owner not reported
Artifact availability · code: reported pending
“tion code will be released as open source soon to facilitate reproduction and further development.”
Exact source · revision 2Source owner not reported
Evidence dependency changes (1)
- 2026-11-02T19:48:37.482Z · evidence updated · source revision 2. Evidence extraction was updated; current source attributions are shown above.
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- arXiv Robotics — research abstractsSignalMUSBRIC: 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.
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