Determining an optimal multiarticular muscle arrangement of a musculoskeletal robot for a specific motion using human motion data

@article{Asaoka2012DeterminingAO,
  title={Determining an optimal multiarticular muscle arrangement of a musculoskeletal robot for a specific motion using human motion data},
  author={Tadashi Asaoka and Masaya Kawamura and Shouhei Kumakura and Ikuo Mizuuchi},
  journal={2012 IEEE International Conference on Mechatronics and Automation},
  year={2012},
  pages={2120-2127}
}
In this paper, we propose a method to determine an optimal multiarticular muscle arrangement for a specific robot motion. Multiarticular muscles contribute to the realization of musculoskeletal robots with dynamic motion performance similar to humans and animals. However, the dynamic motion performance is affected by arrangement of the multiarticular muscles. Therefore, the arrangement is very important for the robots. In previous researches, muscle arrangements of robots were based on ones of… CONTINUE READING

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