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A new cooperative motion control scheme for multiple robot arms or fingers is proposed, which is derived from the analogy of a bilateral control for teleoperation of a system of master and slave robots. A group of some robot arms (or fingers) are moved in cooperation with the master ones. It is shown that a Lyapunov method gives rise to an assurence of the asymptotic.
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Arimoto et al. (2005) studied this question.
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