Lay down on the floor face up and gently press your fingers into your belly between your hip bone and your navel. You will feel it tighten up as you raise your extended leg slightly off the floor.
I believe it is your butt, gluteus maximus . I had real problems with the iliopsoas, 20 years worth. Finally with the help of a very good physical therapist trained in mfr(mio-facial-relaese) my body...
Voluntary muscles are skeletal muscles (under somatic control) and involuntary muscles involve the heart, smooth muscles and anything under autonomic control.