1011 Analysis of a Robot Arm with Bi-articular Muscles Under Gravity Environment

Abstract

Since ancient times terrestrial have been had special muscles called the bi-articular muscles,it acts in two joints simultaneously. It permits for the creation to move quickly and flexible response without advanced method of controlling. Robot with bi-articular muscles is expected to have differed characteristics. In this study, Analyzing robot arm with bi-articular muscles under gravity environment to develop an effective control method based on dynamic characteristics.