Visual Servoing of Musculoskeletal Arms using Binocular Visual Space

This paper proposes a visual control method using a musculoskeletal arm in binocular visual space. The method integrates a muscle length information with a visual information, which has a visual feedback loop and a muscle feedback loop. Because of this system, the performance of position control that is worsened by a parameter error and an image processing delay is improved. Moreover, this method simplifies the coordinate transformation from the muscle length to the binocular visual space using the linear visual servoing. Accuracy of the proposed method is evaluated through simulations.