Muscle Coordination Control for an Asymmetrically Antagonistic-Driven Musculoskeletal Robot Using Attractor Selection

Figure 7

Results using the and search-type controller at four desired positions. (a) Plots of the transition of the search variable (, , and ). (b) Plots of the transition of the input pressures (, , , and ). In (c), the top images plot the trajectory of the tip of the robot: the first flexion task, the first extension task, the second flexion task, and the second extension task from the left image, whereas the bottom image plots the transition of the . Cyan arrows and black arrows show the direction of the movement and the value of , respectively.

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