The synchronization of multiple manipulators in Kali

摘要: Abstract This paper presents a strategy in multi-manipulator synchronization that treats the motions as finite state machines. We use concept of motion-system convenient abstraction for programming explicitly coupled motions. Motions, treated processes, can communicate/affect one another through control signals and dynamics system are taken into account during transitions between different motion states. Using examples, we show such scheme is general enough to cover diverse situations two cooperating arms environment, synchronizing feet legged robot simple gaits fingers an anthropomorphic end-effector grasping strategies.