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Human walking and posture are determined by joint movement, which is controlled by muscle force. Muscle force working as an internal force is the most important factor determining human movement and posture. In this paper, we describe a system for human walking, which is generated by joint movement based on muscle force. We define a joint muscle force function based on the biomechanical characteristics of muscles (their length and contraction velocity). By using this function, we can control joint movement within the maximum joint force which depends on the joint angular values (velocity, acceleration). we propose a human walking system and a method for controlling the internal and external force based on goal-oriented control, which is based on the periodic characteristic of human walking.

Realistic Human Locomotion Generation based on Goal-Oriented Open-Close Cycle Control using Joint Muscle Force Function.