F.A. Mussa-Ivaldi, J. McIntyre, E. Bizzi
In. Biological and Artificial Intelligent Systems.
Clementi, E, and Chin, S. (Eds.)
ESCOM – Leiden, 1988
pp. 563-577
A model of redundant motor system is presented in the form of a network of constraint equations expressing the geometrical relations among component elements and their steady-state mechanical behavior. The model takes into account the non-linear features of motor system geometry and is used to represent mechanical interactions with the environment as well as to derive appropriate patterns of control inputs given a wide variety of motor tasks. This approach, which has been derived from the analysis of biological motor systems , can also be applied to the control of artificial manipulators.