筋骨格系のフィードフォワード位置制御に現れる常微分方程式の安定性条件と数値シミュレーション
Stability conditions of an ODE arising in human motion and its numerical simulation
リンク・関節・2筋からなる筋骨格系のフィードフォワード位置制御で生じるODEについて、平衡点の漸近安定性の十分条件を導出し、数値シミュレーションと実験で検証した。
著者: Takahiro Kosugi, Hitoshi Kino, Masaaki Goto, Yuki Matsutani
分類: math.DS, cs.NA, cs.RO, math.NA
原文アブストラクト
This paper discusses the stability of an equilibrium point of an ordinary differential equation (ODE) arising from a feed-forward position control for a musculoskeletal system. The studied system has a link, a joint and two muscles with routing points. The motion convergence of the system strongly depends on the muscular arrangement of the musculoskeletal system. In this paper, a sufficient condition for asymptotic stability is obtained. Furthermore, numerical simulations of the penalized ODE and experimental results are described.