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  • Friday, January 21, 2011
    Linearization and diagonalization of arm kinematics in a binocular visual space

    Mapping from visual information to motor commands is an important
    issue in the study of voluntary arm movement. The joint kinematics of
    a human-like planar arm, which is generally described as a nonlinear
    function in a Cartesian coordinate system, can be approximately
    linearized in a binocular visual space. This relationship makes it
    possible to generate joint velocities from image observations using a
    constant linear mapping. This scheme is robust to calibration error,
    especially to camera turning, because it uses neither camera angles
    nor joint angles. I also present a musculoskeletal system in which the
    lengths of the biceps brachii and triceps brachii are in proportion to
    the distance and direction of the hand position from the head,
    respectively. In this system, shortening the biceps brachii allows the
    carrying of a grasped object to the head, while shortening the triceps
    brachii changes the hand position around the head. The diagonalization
    simplifies the role of the bi-articular muscles in the arm control.

    Takashi Mitsuda
    Ritsumeikan University