Control of Musculoskeletal Humanoids in Task Space Utilizing Muscle and Joint Redundancy

Abstract

We have implemented an operational space controller to a musculoskeletal humanoid arm. It can optimize the muscle activation while attaining the desired task, given as the end effector acceleration. We have verified through experiments that it can compliantly adapt to external forces while fulfilling the task, and that it can track hand trajectories even from different joint poses.