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We propose visual control of musculoskeletal arm using multiple reference frame including simple coordinate transformation. In this system, visual feedback with time delay and position feedback with a proprioception sensor are integrated. The weight for these two feedback systems can be adjusted depending on situations. From simulation results, we can find the proprioception sensor feedback and visual...
Robots in human living areas need to recognize their changing environment, be safe for humans, and versatile to do various tasks. For this purpose, we propose in this paper an application of Linear-Visual-Servo (LVS) on a musculoskeletal arm. In LVS, displacement transformation is expressed as a constant matrix and converts from work space to joint space is used. On the other hand, for the control...
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