This paper investigates open-loop control, which
does not need the joint angles and velocities, for two degree
of freedom(2DOF) robot manipulators with antagonistic biarticular
muscles which are passing over adjacent two joints
and acting the both joints simultaneously. The manipulator
dynamics of three muscle torques, we call the bi-articular
manipulator dynamics, is constructed in order to design the
control input. Stability analysis with respect to our proposed
control law is discussed based on the Lyapunov method. Our
approach is inspired by the fact that humans do not measure the
joint angles and velocities explicitly, Finally, simulation results
are shown in order to confirm the proposed method and given
a design procedure in order to assign the tuning parameter.
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