Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system

Author

Kino, Hitoshi ; Ochi, Hiroshi ; Tahara, K. ; Matsutani, Yuki ; Ishibashi, Ryota

Author_Institution

Fukuoka Inst. of Technol., Fukuoka, Japan

fYear

2013

fDate

7-9 Nov. 2013

Firstpage

1

Lastpage

6

Abstract

The human body has a musculoskeletal system with the muscles which exist around the bones and joints. Taking notice of the structural characteristics that a human possesses inherently, this paper analyzes feedforward position control for the musculoskeletal system. The feedforward positioning does not need any sensory feedback by use of internal force balancing at a desired posture. Targeting a non-pulley musculoskeletal system with two links and six muscles, this paper clarifies mathematical conditions of the feedforward positioning to converge at a desired posture. In the analysis, muscular length is approximated by Taylor expansion. Based on quasi-statical approach, the convergent conditions are clarified. The verification of the conditions is conducted through simulation.

Keywords

feedforward; force control; humanoid robots; position control; Taylor expansion; bones; feedforward position control; human body; human motion generation; internal force balancing; joints; musculoskeletal structure redundancy; nonpulley musculoskeletal system; quasistatical approach; structural characteristics; two-link system; Convergence; Feedforward neural networks; Force; Joints; Muscles; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics and its Social Impacts (ARSO), 2013 IEEE Workshop on

Conference_Location

Tokyo

Type

conf

DOI

10.1109/ARSO.2013.6705497

Filename

6705497