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

摘要

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.