Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles

This paper investigates a passivity-based control for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed by using the important property which is concerned with the passivity, although the passivity of the bi-articular manipulator dynamics can not be shown on account of antagonistic bi-articular muscles explicitly. Finally, simulation results are shown in order to confirm the proposed method.