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