2016 年 34 巻 2 号 p. 133-142
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.