This paper suggests a novel reaction force control in a robot manipulator by position feedback, motivated by the analysis of human musculoskeletal system. First, we suggest an analogy between a muscle force characteristic and two-degree-of-freedom control input structure so that the complicated human muscle structure can be reflected in robot manipulator… (More)
We have suggested a novel statics and force control can be achieved in a more simple way by using the biarticular muscle coordinate. In order to verify these characteristics, a robot arm with two links that are driven by planetary gear is developed in this paper.
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— This paper proposes totally novel kinematics, statics and dynamics of a two-link manipulator and develops a control algorithm based on them which enables two-link manipulators behave more like human or animals. There are two main points: introduction of biarticular muscle/actuator coordination and utilization of the rotating reference frame instead of the… (More)