Muscle Coordination Control for an Asymmetrically Antagonistic-Driven Musculoskeletal Robot Using Attractor Selection

Figure 3

System overview. Two insets show the system flow (top-left) and the position of the marker captured by the cameras in an enlarged view of the robot hand (bottom-right). The marker is set to the tip of the musculoskeletal robot (the index finger). The input voltage from the control PC is converted to the controlled pressures by the regulators, and the musculoskeletal robot is driven by the pressures supplied to each muscle of the robot. The position of the tip is measured using the marker captured by the cameras and is saved to the PC.