球面関節からなる拮抗腱駆動系の運動生成機序の検討

抄録

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.