Representation of Virtual Muscle Oscillation for Robot Control by Communicating Sequential Processes

Abstract

The objective of this paper is to represent a virtual muscle oscillation method (VMO) by Communicating Sequential Process (CSP). CSP is a formal language for parallel processes, developed by Hoare in 1978, and CSP is well known about its mathematical foundation. On the other hand, VMO is a highly modularized robot motion generation method, and VMO is applied to a hobby robot control. By representing VMO motion generation method by CSP, it is possible to verify a control process of a robot by VMO more mathematically.