Bio-inspired holistic control for a combined four-Arm robot through relative Jacobian of opposite and adjacent dual-Arm pairs

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

© 2016 IEEE. Biological limbs normally come in pairs: mammals have four, insects have six, arachnids have eight, and centipedes have one pair of legs per body segment. This work attempts to interpret the biological method of controlling paired legs (here treated as dual-Arms) in opposite and adjacent pairs to achieve a holistic controller of a large four-legged animal (here treated as a combined four-Arm robot). The four-Arm controller uses the same principle of a single end-effector controller of a dual-Arm through the use of a relative Jacobian. A modular relative Jacobian of the four arms is derived.
Original languageEnglish
Title of host publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
PublisherIEEE Computer Society
Pages132
Number of pages1
ISBN (Print)9781509032877
DOIs
Publication statusPublished - Jul 26 2016

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2016-July

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Jamisola, R. S. (2016). Bio-inspired holistic control for a combined four-Arm robot through relative Jacobian of opposite and adjacent dual-Arm pairs. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 132). [7523610] (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2016-July). IEEE Computer Society. https://doi.org/10.1109/BIOROB.2016.7523610