This paper presents the kinematics and dynamics of a musculoskeletal model inspired by humans/animals where the bones (links) are actuated by muscles (linear actuators). Starting from a single-link musculoskeletal structure, the kinematics were addressed to link the joint and muscle variables. From the kinematic constraints, dynamics of the structure were also presented. Later the 3D model of a two-link structure was constructed in ROCOS software to simulate the effect of gravity and environment (floor). In the simulations, the constraints were correctly defined as snapshots show the bones and muscle are intact before and after contact with environment. © 2014 Springer Science+Business Media Singapore.
CITATION STYLE
Bin Hj Shukor, A. Z., Bin, F., Bin Miskon, M. F., Bin Md Saat, M. S., & Bin Mohamed Nor, M. K. (2014). Musculoskeletal robotics modeling and simulation. In Lecture Notes in Electrical Engineering (Vol. 291 LNEE, pp. 15–22). Springer Verlag. https://doi.org/10.1007/978-981-4585-42-2_2
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