Abstract
A ball and socket joint can simply and compactly construct a 3 DOF joint. If this joint is muscle-driven the way the muscles are controlled is important. A model-based approach to humanoids is an appropriate method to create motion. In the framework of this research it was noted that at muscle singular points too much muscular tension results from a combination of factors that can lead to damage of the robot. In this paper new methods are proposed in order to control the tension at muscle singular points. The methods were tested using the musculo-skeletal humanoid "Kojiro".
