Combined Feedback Feedforward Control of a 3-Link Musculoskeletal System Based on the Iterative Training Method

Table 1

Numerical parameters of the model.

	Length (m)	Mass (kg)	Inertial moment (kg·m^2)	CoM position (m)
1^st link	0.31	1.93	0.0141	0.165
2^nd link	0.27	1.32	0.0120	0.135
3^nd link	0.15	0.35	0.0010	0.075