Generation of biped stance motion in consideration of neurological time delay through forward dynamics simulation

In order to understand insights into human stance postural control mechanism, generation of biped stance motion in consideration of both muscles and neurological time delay is important. In this paper, we proposed a neural controller composed by feed-forward and feedback control to keep a musculoskeletal model with 70 muscles standing when neurological time delay is 100 ms. Through the optimization, we obtained the parameters of proposed controller able to keep musculoskeletal model standing.