Visual Servoing of Musculoskeletal Arms using Simple Transformations between Multiple Coordinate Systems

Abstract

This paper proposes a technique for visually controlling a tendon arm based on simple coordinate transformations between binocular visual space and muscle space through polar spaces. Utilization of polar spaces contributes towards simplification of the transformations because both polar spaces and binocular visual space represent distance and orientation. Moreover, biarticular muscles can be used to convert a transformation into a diagonal matrix. Since a coordinate transformation is divided into multiple simple transformations, multiple feedback controllers can be easily implemented in some coordinate systems. In this paper, a visual feedback with time delay and an actuator feedback are adopted as an external and an internal sensor, respectively. The weights of the two feedback systems are adjusted depending on situations. Simulation results show that the internal sensor feedback and visual feedback are effective for initial quick motion and final positioning, respectively.