Biomechanical modeling of the human musculoskeletal system requires the gathering of several different scientific disciplines, including neurophysiology, anatomy, multi-body dynamics, control theory, among others. This invited lecture paper will address some results of the authors’ last years of research in this field in collaboration with his colleagues, showing some results in muscle modeling...

This paper describes a biped walking control system based on the reactive force interaction control at the foothold. 1) robust control of reactive force/torque interaction at the foothold based on Cartesian space motion controller. 2) the posture control considering the physical constraints of the reactive force/torque at the foothold by quadratic programming. The proposed approach realizes the...