Muscle displacement and force related to walking by dynamics studies of musculoskeletal humanoid robot

Abstract

Conventional bipedal robots are mainly controlled by motors using central processing units (CPUs) and software, and they are being developed with control methods and mechanisms that are different from those used by humans. Humans generate basic movement patterns using a central pattern generator (CPG) localized in the spinal cord and create complex and efficient movements through muscle synergies that coordinate multiple muscles. For a robot to mimic the human musculoskeletal structure and reproduce walking movements, muscle parameters are required. In this paper, inverse dynamics analysis is used to determine the muscle displacements and forces required for walking in a musculoskeletal humanoid model, and forward dynamics analysis is used to investigate these values.