Basic study of biarticular muscle's effect on muscular internal force control based on physiological hypotheses

H. Kino, S. Kikuchi, T. Yahiro, Kenji Tahara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)

Abstract

In a musculoskeletal structure, the internal force among muscles plays an important role. Changing the internal force enables to control not only joint angles but also impedance, so that vertebrate animals can produce a motion according to a situation. Focusing on a musculoskeletal system with two links and six muscles, this paper investigate the effect of biarticular muscles when feedforward position control is inputted. This control gives the constant internal force balancing at desired posture as feedforward input, based on the EP hypothesis in physiology. From the result, we point out that the biarticular muscles can reduce the convergent time of the motion, and theyalso can stabilize the system.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages4195-4200
Number of pages6
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period5/12/095/17/09

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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