2リンク6筋を有する筋骨格システムにおけるフィードフォワード位置決めのための筋配置条件

Translated title of the contribution: Muscular Arrangement Conditions of Musculoskeletal System with Two Joints and Six Muscles for Feedforward Position Control

越智 裕章, 木野 仁, 田原 健二, 松谷 祐希

Research output: Contribution to journalArticle

Abstract

This paper focuses on the feedforward position control for a musculoskeletal system which has two links, two joints and six muscles. This feedforward control method utilizes resultant torque generated by inputting the internal force among muscles balancing at a desired posture. The motion convergence of this control method is extremely sensitive to the muscular arrangement. Using the approximation of Taylor expansion, the previous study clarified the sufficient condition of the muscular lengths for converging at a desired posture. This paper expands this discussion to clarify the geometric conditions of the muscular arrangement.
Original languageJapanese
Pages (from-to)133-142
Number of pages10
Journal日本ロボット学会誌
Volume34
Issue number2
DOIs
Publication statusPublished - 2016

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