A study of the motion generation method of the tendon-drinen mechinism with ball joints

Abstract

This paper proposes a control strategy of a tendon driven mechanism based on the analysis of human like motion. Based on the human like muscle activities, proposed controller uses both the discrete-time and the continuous-time controller. The continuous and the discrete controller activate the muscle to generate the force fields. Especially, the discrete-time controller changes the number of the active muscle. The controller can select the number of the muscle units.