Obstacle via point

Figure 6.12 shows a computational algorithm diat can be used to model the centroid path of a musculotendinous actuator fin a given configuration of the joints in the body. There are four steps in the computational algorithm. Given the relative positions of the bones, the locations of all fixed via points are known and can be expressed in the obstacle reference frame (Fig. 6.12, Step 1). The locations of the remaining via points in the actuator s path, the obstacle via points, can be calculated...

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