© 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.
|Title of host publication||Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics|
|Publisher||IEEE Computer Society|
|Number of pages||1|
|Publication status||Published - Jul 26 2016|
|Name||Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics|