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

Rodrigo S. Jamisola

doi:10.1109/BIOROB.2016.7523610

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

Rodrigo S. Jamisola

Mechanical, Energy & Industrial Engineering

Research output: Chapter in Book/Report/Conference proceeding › Chapter

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 language	English
Title of host publication	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Publisher	IEEE Computer Society
Pages	132
Number of pages	1
ISBN (Print)	9781509032877
DOIs	https://doi.org/10.1109/BIOROB.2016.7523610
Publication status	Published - Jul 26 2016

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume	2016-July

Access to Document

10.1109/BIOROB.2016.7523610

Cite this

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). Article 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

Jamisola, Rodrigo S. / Bio-inspired holistic control for a combined four-Arm robot through relative Jacobian of opposite and adjacent dual-Arm pairs. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE Computer Society, 2016. pp. 132 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

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abstract = "{\textcopyright} 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.",

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Jamisola, RS 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., 7523610, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, vol. 2016-July, IEEE Computer Society, pp. 132. https://doi.org/10.1109/BIOROB.2016.7523610

Bio-inspired holistic control for a combined four-Arm robot through relative Jacobian of opposite and adjacent dual-Arm pairs. / Jamisola, Rodrigo S.
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE Computer Society, 2016. p. 132 7523610 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2016-July).

Research output: Chapter in Book/Report/Conference proceeding › Chapter

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N2 - © 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.

AB - © 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.

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DO - 10.1109/BIOROB.2016.7523610

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BT - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

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Jamisola RS. 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. IEEE Computer Society. 2016. p. 132. 7523610. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/BIOROB.2016.7523610

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

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