Abstract
Organism use monoarticular muscles and biarticular muscles when driving the joints. Compliance with monoarticular muscles and biarticular muscles are doing the control of limb tip compliance of the biological. Previous studies have confirmed this characteristic by adding a mechanism corresponding to biarticular muscles to the robot arm. Generally, the direction of the trajectory match against any direction of the external force of the arm tip at the compliance characteristics of the arm circularity. In this paper, 2-link arm which has two motors showed approach to meet this characteristic. Also, we control the size of the tip compliance that varies with position. As a result, we have confirmed by simulation to satisfy this characteristic when tip displacement amount is small.
