Visual Control of Musculoskeletal arm Using Multiple Reference Frame including Simple Coordinate Transformation

摘要

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 feedback are effective for initial quick motion and final positioning, respectively. By adjusting weights for these two systems, the task is performed.