Abstract
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.
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Acknowledgments
Authors wish to acknowledge Universiti Teknikal Malaysia Melaka (UTeM) for the research grant (PJP/2013/FKE(5D)/S01171) provided for this project. Also to Prof. Dr. Yasutaka Fujimoto from Yokohama National University for the robot simulation software.
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bin Hj Shukor, A.Z., bin Ali@Ibrahim, F., bin Miskon, M.F., bin Md Saat, M.S., bin Mohamed Nor, M.K. (2014). Musculoskeletal Robotics Modeling and Simulation. In: Mat Sakim, H., Mustaffa, M. (eds) The 8th International Conference on Robotic, Vision, Signal Processing & Power Applications. Lecture Notes in Electrical Engineering, vol 291. Springer, Singapore. https://doi.org/10.1007/978-981-4585-42-2_2
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DOI: https://doi.org/10.1007/978-981-4585-42-2_2
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