Stability analysis of multi-serial-link mechanism driven by antagonistic multiarticular artificial muscles

Abstract Artificial multiarticular musculoskeletal systems consisting of serially connected links driven by monoarticular and muscles, which are often inspired vertebrates, enable robots to elicit dynamic, elegant, flexible movements. However, serial muscles can cause unstable motion (e.g., buckling). The stability mechanisms antagonistic depends on the muscle configuration, origin/insertion spring constants contracting force other factors. We analyze a multi-serial-link mechanism aiming avoid buckling undesired motions. theoretically derive potential energy system stable condition at target point, validate results through dynamic simulations experiments. This paper presents static criteria linked robots, redundantly resulting in design control guidelines for those robots.