A sensor-actuator map for organization of position sensor feedback control for multiple links structure/wire driven system

Multiple links structure/wire driven (tendon) system is one of robot structures, that has a serial-link structure driven by a wire-drive mechanism. It can be applied to a manipulator like elephant´s trunk, a moray arm, the backbone of a humanoid, etc.. However, transformations among coordinates (task-oriented, joint-angles and wire-length) are very complicated. Therefore, it is not clear how sensory feedback control laws should be realized for the system. We propose a sensor-actuator map in which the sensor coordinates and actuator coordinates are arranged. By finding the paths from the sensor coordinates to the actuator coordinates on the map, the sensory feedback control laws can be built.