Animals generate various motions by cooperatively manipulating their complicated and redundant musculoskeletal systems controlled by the nervous system. To reveal the mechanism with which a steady movement is generated, much research has been performed that shows that musculoskeletal properties themselves can stabilze motion without a sensory feedback system if the muscle architecture and the parallel elastic elements within a muscle are tuned appropriately. In this paper, we show that the condition of stability is greatly eased by limiting the targeted movement to the periodic motion. The force-velocity relationship, which is one of the most famous properties of muscle, plays a decisive role in realizing the self-stabilizing ability of the musculoskeletal system.
ASJC Scopus subject areas
- コンピュータ サイエンスの応用