MNSM-inspired method for the motion control of dual-arm robot

This work presents a MNSM (Mirror Neuron System Mechanism) inspired method to control the motion of a dual-arm robot. The new symmetrical action can be classified as instinct-following arbitrary trajectory and goal-based motion; they are planned by the dual-arm robot planner, and implemented by the dual-arm robot within a master/slave protocol. The master arm uses a motion planner to generate corresponding signal for the motor neuron. Then the motor neuron controls the motor to move the joint of the robot. The activities of motor neuron can also fire the MNSSL (Mirror Neuron System of Symmetry Limb) and it will generate the code about the movement and pass it to the receiver of the MNS (Mirror Neuron System) in the slave arm. The MNS of the slave arm will decode the information to generate the corresponding signal of the motor neuron to drive the motor to move the joints. The effective symmetrical motions are also linked with different vocabularies, and all these are stored in the memory as knowledge. High level mirror activities fired by high level neuron command, speech stimulus, etc will use the knowledge in the memory to control the dual-arm robot to realize different symmetrical motions. This study provides not only a new method for the dual-arm robot to realize some given motion task, but also firstly a way by robot motion demonstration to understand the mirror movement mechanism between human´s symmetrical limbs.