Animal inspired motion control mechanism

Abstract

The two-joint link mechanism provided with one antagonistic pair of the bi-articular actuators in addition to two antagonistic pairs of the mono-articular actuators could demonstrate perfect coordination of these actuators with only single command signal informing output force direction, and could lead smooth, rapid and precise movements without use of positional feedback signal from the endpoint, i.e. an open loop control. Further, the mechanism could demonstrate stable postural control against external disturbances, and dissolve contact task.