Determination of a set of muscle inputs that maximize manipulability in motion control of robot arms driven by three pairs of muscle actuators

Abstract

This paper solves a problem associated with the distribution of joint torque in motion control of 2 DOF robot arms driven by three pairs of antagonist muscle actuators. Since redundancy of the actuators enables adjustment of manipulability of the robot, we distribute the joint torque to each muscle actuator so that the resultant set of muscle input can maximize the manipulability.