Stability conditions of an ODE arising in human motion and its numerical simulation
Dynamical Systems
2019-04-30 v1 Robotics
Numerical Analysis
Abstract
This paper discusses the stability of an equilibrium point of an ordinary differential equation (ODE) arising from a feed-forward position control for a musculoskeletal system. The studied system has a link, a joint and two muscles with routing points. The motion convergence of the system strongly depends on the muscular arrangement of the musculoskeletal system. In this paper, a sufficient condition for asymptotic stability is obtained. Furthermore, numerical simulations of the penalized ODE and experimental results are described.
Keywords
Cite
@article{arxiv.1904.12394,
title = {Stability conditions of an ODE arising in human motion and its numerical simulation},
author = {Takahiro Kosugi and Hitoshi Kino and Masaaki Goto and Yuki Matsutani},
journal= {arXiv preprint arXiv:1904.12394},
year = {2019}
}
Comments
15 pages, 7 figures