Abstract
We develop methods to compute dynamics and control for articulated body systems that are actuated by linear contractile elements. We motivate the conditions under which our mathematical formulation is suitable for modeling muscle actuated robots as well as the human musculoskeletal system. In detail, we: (i) specify the conditions under which sets of piecewise linear contractile muscle fibers (actuators) can model the action of muscle volumes, (ii) use the muscle Jacobian to obtain an expression for predicting how muscle forces produce forces and accelerations at operational points on articulated bodies (muscle-to-task ‘forward’ maps), (iii) use the muscle Jacobian to obtain an expression for predicting the muscle forces required to produce specified forces at operational points on articulated bodies (task-to-muscle ‘inverse’ maps), and (iv) present an interative algorithm for resolving task-to-muscle maps with a proof of convergence and empirical results to show fast (\({\sim }20\)–100 iterations) convergence for detailed human musculoskeletal models with hundreds of muscles and tens of degrees of freedom.
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Notes
- 1.
We ignore graph topologies at the moment. Accommodating those is feasible using our methods in combination with constraint solving dynamics algorithms. See [9] for an overview.
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Acknowledgements
This work was supported by National Science Foundation National Robotics Initiative grant (IIS-1427396, O. Khatib and R. Bajcsy).
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Menon, S., Migimatsu, T., Khatib, O. (2020). Controlling Muscle-Actuated Articulated Bodies in Operational Space. In: Amato, N., Hager, G., Thomas, S., Torres-Torriti, M. (eds) Robotics Research. Springer Proceedings in Advanced Robotics, vol 10. Springer, Cham. https://doi.org/10.1007/978-3-030-28619-4_69
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