A biologically Inspired active compliant joint using local positive velocity feedback (LPVF)

Schneider A, Cruse H, Schmitz J (2005)
IEEE Trans. Systems Man Cybern. Part B: Cybernetics 35(6): 1120-1130.

Journal Article | Published | English

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Abstract
Starting from studies which revealed that positive feedback is found in the control system for walking in arthropods, we have constructed a new positive feedback driven joint that can be used for solving compliant motion tasks. We propose two different joint constructions each of which shows passive compliance. Based on these joints we introduce three different local positive velocity feedback (LPVF) controllers and discuss their properties in the context of motion generation in closed kinematic chains. The third circuit named undelayed dLPVF is used for the control of a compliant planar manipulator which turns a crank. Our concept is of highly decentralized nature and follows the idea of embodiment. In our case this means that a process which is controlled by LPVF controllers reveals its nature when the controllers interact with this process.
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Schneider A, Cruse H, Schmitz J. A biologically Inspired active compliant joint using local positive velocity feedback (LPVF). IEEE Trans. Systems Man Cybern. Part B: Cybernetics. 2005;35(6):1120-1130.
Schneider, A., Cruse, H., & Schmitz, J. (2005). A biologically Inspired active compliant joint using local positive velocity feedback (LPVF). IEEE Trans. Systems Man Cybern. Part B: Cybernetics, 35(6), 1120-1130.
Schneider, A., Cruse, H., and Schmitz, J. (2005). A biologically Inspired active compliant joint using local positive velocity feedback (LPVF). IEEE Trans. Systems Man Cybern. Part B: Cybernetics 35, 1120-1130.
Schneider, A., Cruse, H., & Schmitz, J., 2005. A biologically Inspired active compliant joint using local positive velocity feedback (LPVF). IEEE Trans. Systems Man Cybern. Part B: Cybernetics, 35(6), p 1120-1130.
A. Schneider, H. Cruse, and J. Schmitz, “A biologically Inspired active compliant joint using local positive velocity feedback (LPVF)”, IEEE Trans. Systems Man Cybern. Part B: Cybernetics, vol. 35, 2005, pp. 1120-1130.
Schneider, A., Cruse, H., Schmitz, J.: A biologically Inspired active compliant joint using local positive velocity feedback (LPVF). IEEE Trans. Systems Man Cybern. Part B: Cybernetics. 35, 1120-1130 (2005).
Schneider, Axel, Cruse, Holk, and Schmitz, Josef. “A biologically Inspired active compliant joint using local positive velocity feedback (LPVF)”. IEEE Trans. Systems Man Cybern. Part B: Cybernetics 35.6 (2005): 1120-1130.
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2 Citations in Europe PMC

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Insect walking is based on a decentralized architecture revealing a simple and robust controller.
Cruse H, Durr V, Schmitz J., Philos Trans A Math Phys Eng Sci 365(1850), 2007
PMID: 17148058

27 References

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Implications of positive feedback in the control of movement.
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