Control of musculoskeletal arm using a visual space

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 of the musculoskeletal arm, force transformation which converts joint space to muscle space is used thanks to the redundancy caused by a greater degree of freedom in muscles than in joints. In order to use the redundancy of musculoskeletal arms, the transformation from work space to joint space is changed from displacement transformation into force transformation.