Abstract
This will be a two-part tech brief on dynamical modeling of the skeletomuscle system of a single jointed limb comprised of a fixed-position bone, a movable bone, and two muscles arranged as an agonist-antagonist pair. Part I will deal with modeling the mechanics of the system. Part II will deal with the modeling of the sensory neurons. My intent in this tech brief is to provide the mathematical foundation for more advanced systems comprised of multiple joints and multiple degrees of freedom.