Abstract
This work presents a holistic approach to control a robot with four arms as a single manipulator (with a single end-effector) using a modular relative Jacobian. The proposed method uses dual-arm pairing using opposite, adjacent, and counter-lateral pairs, in an attempt to interpret biological holistic movements through leg pairing in insects, as well as in large four-legged animals. A modular expression of the relative Jacobian for four arms is derived using an analogous principle of derivation used for the relative Jacobian for dual arms. The proposed approach pairs two arms as a single dual-arm manipulator and then pairs the two dual arms into a single four-arm manipulator. In this paper, the dual-arm pairing is performed to mimic the pacing and trotting movement of a large four-legged animal. A purely kinematic simulation in Gazebo is shown to demonstrate a holistically controlled four-arm manipulator.
Similar content being viewed by others
Change history
16 November 2021
A Correction to this paper has been published: https://doi.org/10.1007/s13369-021-06258-3
References
Agarwal, A.; Shah, S.; Bandyopadhyay, S.; Saha, S.: Dynamics of serial kinematic chains with large number of degrees-of-freedom. Multibody Syst. Dyn. 32(3), 273–298 (2014)
Ahmadizadeh, M.; Shafei, A.; Fooladi, M.: A recursive algorithm for dynamics of multiple frictionless impact-contacts in open-loop robotic mechanisms. Mech. Mach. Theory 146, 103745 (2020)
Ahmadizadeh, M.; Shafei, A.; Fooladi, M.: Dynamic analysis of multiple inclined and frictional impact-contacts in multi-branch robotic systems. Appl. Math. Model. 91, 24–42 (2021)
Beer, R.D.; Quinn, R.D.; Chiel, H.J.; Ritzmann, R.E.: Biologically inspired approaches to robotics: What can we learn from insects? Commun. ACM 40(3), 30–38 (1997)
Biancardi, C.M.; Fabrica, C.G.; Polero, P.; Loss, J.F.; Minetti, A.E.: Biomechanics of octopedal locomotion: kinematic and kinetic analysis of the spider grammostola mollicoma. J. Exp. Biol. 214(20), 3433–3442 (2011)
Clune, J.; Beckmann, B.E.; Ofria, C.; Pennock, R.T.: Evolving coordinated quadruped gaits with the HyperNEAT generative encoding. In: 2009 IEEE Congress on Evolutionary Computation, pp. 2764–2771. IEEE (2009)
Cruse, H.; Warnecke, H.: Coordination of the legs of a slow-walking cat. Exp. Brain Res. 89(1), 147–156 (1992)
Dabelow, S.: Zur Biologie der Leimschleuderspinne Scytodes thoracica (Latreille). Zool. Jb. Syst. 86, 85–126 (1958)
Delcomyn, F.; Nelson, M.E.: Architectures for a biomimetic hexapod robot. Robot. Auton. Syst. 30(1), 5–15 (2000)
Eberhard, W.G.: Behavioral characters for the higher classification of orb-weaving spiders. Evolution. 36(5), 1067–1095 (1982)
Fuchs, A.; Goldner, B.; Nolte, I.; Schilling, N.: Ground reaction force adaptations to tripedal locomotion in dogs. Vet. J. 201(3), 307–315 (2014)
Goldner, B.; Fuchs, A.; Nolte, I.; Schilling, N.: Kinematic adaptations to tripedal locomotion in dogs. Vet. J. 204(2), 192–200 (2015)
Grabowska, M.; Godlewska, E.; Schmidt, J.; Daun-Gruhn, S.: Quadrupedal gaits in hexapod animals-inter-leg coordination in free-walking adult stick insects. J. Exp. Biol. 215(24), 4255–4266 (2012)
He, W., Gao, H., Zhou, C., Yang, C., Li, Z.: Reinforcement learning control of a flexible two-link manipulator: an experimental investigation. IEEE Trans. Syst. Man Cybern. Syst. 1–11 (2020)
Hollerbach, J.M.: A recursive lagrangian formulation of maniputator dynamics and a comparative study of dynamics formulation complexity. IEEE Trans. Syst. Man Cybern. 10(11), 730–736 (1980)
Hosoda, K.; Sakaguchi, Y.; Takayama, H.; Takuma, T.: Pneumatic-driven jumping robot with anthropomorphic muscular skeleton structure. Auton. Robot. 28(3), 307–316 (2010)
Ijspeert, A.J.: Biorobotics: using robots to emulate and investigate agile locomotion. Science 346(6206), 196–203 (2014)
Jamisola, R.S.; Chang, P.H.; Lee, J.: Guaranteeing task prioritization for redundant robots given maximum number of tasks and singularities. In: TENCON 2012 IEEE Region 10 Conference, Manila, Philippines, pp. 1–6. IEEE (2012)
Jamisola Jr, R.S.; Kormushev, P.; Caldwell, D.G.; Ibikunle, F.: Modular relative jacobian for dual-arms and the wrench transformation matrix. In: 2015 IEEE 7th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Angkor Wat, Cambodia, pp. 181–186. IEEE (2015)
Jamisola, R.S., Jr.; Roberts, R.G.: A more compact expression of relative Jacobian based on individual manipulator Jacobians. Robot. Auton. Syst. 63, 158–164 (2015)
Kaston, B.J.: Some little known aspects of spider behavior. The American Midland Naturalist. 73(2), 336–356 (1965)
Khatib, O.: Inertial properties in robotic manipulation: an object-level framework. Int. J. Robot. Res. 14(1), 19–36 (1995)
Kirpensteijn, J.; Van den Bos, R.; Van den Brom, W.; Hazewinkel, H.: Ground reaction force analysis of large breed dogs when walking after the amputation of a limb. Vet. Rec. 146(6), 155–159 (2000)
Korayem, M.; Dehkordi, S.: Derivation of motion equation for mobile manipulator with viscoelastic links and revolute-prismatic flexible joints via recursive gibbs-appell formulations. Robot. Auton. Syst. 103, 175–198 (2018)
Korayem, M.; Shafei, A.; Dehkordi, S.: Systematic modeling of a chain of n-flexible link manipulators connected by revolute-prismatic joints using recursive gibbs-appell formulation. Arch. Appl. Mech. 84(2), 187–206 (2014)
Lacquaniti, F.; Ivanenko, Y.; Zago, M.: Kinematic control of walking. Arch. Ital. Biol. 140(4), 263–272 (2002)
Lauder, G.V.; Anderson, E.J.; Tangorra, J.; Madden, P.G.: Fish biorobotics: kinematics and hydrodynamics of self-propulsion. J. Exp. Biol. 210(16), 2767–2780 (2007)
Lee, J.; Chang, P.; Jamisola, R.S.: Relative impedance control for dual-arm robots performing asymmetric bimanual tasks. Ind. Electron. IEEE Trans. 61(7), 3786–3796 (2014). https://doi.org/10.1109/TIE.2013.2266079.
Lee, J.; Chang, P.H.; Jamisola, R.S.: Relative impedance control for dual-arm robots performing asymmetric bimanual tasks. Ind. Electron. IEEE Trans. 61(7), 3786–3796 (2014)
Lewis, C.: Trajectory generation for two robots cooperating to perform a task. In: Robotics and Automation, IEEE International Conference on, pp. 1626–1631. IEEE (1996)
Lewis, C.; Maciejewski, A.: Trajectory generation for cooperating robots. In: Systems Engineering, IEEE International Conference on, pp. 300–303. IEEE (1990)
Liu, C.; Chen, Q.; Wang, D.: CPG-inspired workspace trajectory generation and adaptive locomotion control for quadruped robots. Syst. Man Cybern. Part B Cybern. IEEE Trans. 41(3), 867–880 (2011)
Pearson, K.; Franklin, R.: Characteristics of leg movements and patterns of coordination in locusts walking on rough terrain. Int. J. Rob. Res. 3(2), 101–112 (1984)
Raibert, M.H.: Trotting, pacing and bounding by a quadruped robot. J. Biomech. 23, 79–98 (1990)
Ritzmann, R.E.; Quinn, R.D.; Watson, J.T.; Zill, S.N.: Insect walking and biorobotics: a relationship with mutual benefits. Bioscience 50(1), 23–33 (2000)
Ryczko, D.; Simon, A.; Ijspeert, A.J.: Walking with salamanders: from molecules to biorobotics. Trends Neurosci. 43(11), 916–930 (2020)
Seipel, J.E.: Analytic-holistic two-segment model of quadruped back-bending in the sagittal plane. In: ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Washington, DC, pp. 855–861. ASME (2011)
Semini, C.; Tsagarakis, N.G.; Guglielmino, E.; Focchi, M.; Cannella, F.; Caldwell, D.G.: Design of HyQ -a hydraulically and electrically actuated quadruped robot. Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng. 225(6), 831–849 (2011)
Siciliano, B.; Sciavicco, L.: Robotics: modelling, planning and control. Adv. Textb. Control Signal Process. Springer (2009)
Spong, M.W.; Hutchinson, S.; Vidyasagar, M.: Robot Modeling and Control. Wiley, New York (2006)
Steingrube, S.; Timme, M.; Wörgötter, F.; Manoonpong, P.: Self-organized adaptation of a simple neural circuit enables complex robot behaviour. Nat. Phys. 6(3), 224–230 (2010)
Terzopoulos, D.; Tu, X.; Grzeszczuk, R.: Artificial fishes: autonomous locomotion, perception, behavior, and learning in a simulated physical world. Artif. Life 1(4), 327–351 (1994)
Thomson, T.J.: Three-legged locomotion and the constraints on limb number: why tripeds don‘t have a leg to stand on. BioEssays 41(10), 1900061 (2019)
Tomović, R.; Anastasijević, R.; Vučo, J.; Tepavac, D.: The study of locomotion by finite state models. Biol. Cybern. 63(4), 271–276 (1990)
Tu, X., Terzopoulos, D.: Artificial fishes: physics, locomotion, perception, behavior. In: Proceedings of the 21st Annual Conference on Computer Graphics and Interactive Techniques, pp. 43–50. ACM (1994)
Vereecke, E.E.; D’Août, K.; Aerts, P.: Locomotor versatility in the white-handed gibbon (hylobates lar): a spatiotemporal analysis of the bipedal, tripedal, and quadrupedal gaits. J. Hum. Evol. 50(5), 552–567 (2006)
Vollrath, F.; Krink, T.: Spider webs inspiring soft robotics. J. R. Soc. Interface 17(172), 20200569 (2020)
Wilson, D.M.: Stepping patterns in tarantula spiders. J. Exp. Biol. 47(1), 133–151 (1967)
Yu, X.; He, W.; Li, H.; Sun, J.: Adaptive fuzzy full-state and output-feedback control for uncertain robots with output constraint. IEEE Trans. Syst. Man Cybern. Syst. 1–14 (2020)
Acknowledgements
The authors would like to thank Carlos Mastalli for his help in the development of the simulation platform.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Jamisola, R.S., Roberts, R.G. Bio-Inspired Modular Relative Jacobian for Holistically Controlled Four-Arm Manipulators Using Opposite and Adjacent Dual-Arm Pairs. Arab J Sci Eng 47, 1777–1789 (2022). https://doi.org/10.1007/s13369-021-06046-z
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s13369-021-06046-z