Role of variable kinematic structure in control of skeletal activities

Control of multivariable mechanical systems such as functional motor activity in animal or man is considered. Another area of application is the design of antropomorphic robots for mediacal and industrial purposes. It is shown that available mechanical degrees of treedom in the skeleton are not used simultaneously. Instead, constraints leading to variable kinematic, structures are imposed depending on the desired functional activity. Thus the task of the control system is greatly reduced at the dynamic level. Logical control at the higher level takes care of instants when and how the kinematic structure must be modified. Means to describe mathematically systems with variable kinematic structure are presented as well as experimental results.