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

Figure 4

Results using the pressure search-type controller. (a) Plots of the transition of the search variables (, , , and ) and the attractors (dashed lines). (b) Plots of the transition of the input pressures (, , , and ). (c) Plots of the trajectory of the tip of the robot for the flexion task (top-left) and the extension task (top-right) and the transition of the (bottom). Cyan arrows, green arrows, and black arrows show the direction of the movement, the MP joint position, and the value of , respectively.

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