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.
Zeitschriftenaufsatz
| Veröffentlicht | Englisch
Download
Es wurden keine Dateien hochgeladen. Nur Publikationsnachweis!
Einrichtung
Abstract / Bemerkung
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.
Stichworte
turning a crank;
legged;
system;
six-legged walking;
locomotion;
positive feedback;
velocity;
Cybernetics;
active compliance;
JOINT;
compliant motion;
joint coordination;
SYSTEMS
Erscheinungsjahr
2005
Zeitschriftentitel
IEEE Trans. Systems Man Cybern. Part B: Cybernetics
Band
35
Ausgabe
6
Seite(n)
1120-1130
ISSN
1083-4419
Page URI
https://pub.uni-bielefeld.de/record/1681421
Zitieren
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. https://doi.org/10.1109/TSMCB.2005.850147
Schneider, Axel, Cruse, Holk, and Schmitz, Josef. 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.
Daten bereitgestellt von European Bioinformatics Institute (EBI)
2 Zitationen in Europe PMC
Daten bereitgestellt von Europe PubMed Central.
Simple analytical model reveals the functional role of embodied sensorimotor interaction in hexapod gaits.
Ambe Y, Aoi S, Nachstedt T, Manoonpong P, Wörgötter F, Matsuno F., PLoS One 13(2), 2018
PMID: 29489831
Ambe Y, Aoi S, Nachstedt T, Manoonpong P, Wörgötter F, Matsuno F., PLoS One 13(2), 2018
PMID: 29489831
A dynamic model of thoracic differentiation for the control of turning in the stick insect.
Rosano H, Webb B., Biol Cybern 97(3), 2007
PMID: 17647010
Rosano H, Webb B., Biol Cybern 97(3), 2007
PMID: 17647010
27 References
Daten bereitgestellt von Europe PubMed Central.
AUTHOR UNKNOWN, 0
AUTHOR UNKNOWN, 0
Intelligent compliant motion control.
Al-Jarrah OM, Zheng YF., IEEE Trans Syst Man Cybern B Cybern 28(1), 1998
PMID: 18255930
Al-Jarrah OM, Zheng YF., IEEE Trans Syst Man Cybern B Cybern 28(1), 1998
PMID: 18255930
AUTHOR UNKNOWN, 0
AUTHOR UNKNOWN, 0
AUTHOR UNKNOWN, 0
AUTHOR UNKNOWN, 0
AUTHOR UNKNOWN, 0
a composite drive with separate control of force and position
möhl, 11th Int Conf Advanced Robotics (), 2003
möhl, 11th Int Conf Advanced Robotics (), 2003
AUTHOR UNKNOWN, 0
adaptive properties of ̶hard wired̶ neuronal systems
schmitz, Verh Dtsch Zool Ges 88(), 1995
schmitz, Verh Dtsch Zool Ges 88(), 1995
Intraspinal micro stimulation generates locomotor-like and feedback-controlled movements.
Mushahwar VK, Gillard DM, Gauthier MJ, Prochazka A., IEEE Trans Neural Syst Rehabil Eng 10(1), 2002
PMID: 12173741
Mushahwar VK, Gillard DM, Gauthier MJ, Prochazka A., IEEE Trans Neural Syst Rehabil Eng 10(1), 2002
PMID: 12173741
AUTHOR UNKNOWN, 0
AUTHOR UNKNOWN, 0
AUTHOR UNKNOWN, 0
Kinematic networks. A distributed model for representing and regularizing motor redundancy.
Mussa Ivaldi FA, Morasso P, Zaccaria R., Biol Cybern 60(1), 1988
PMID: 3214648
Mussa Ivaldi FA, Morasso P, Zaccaria R., Biol Cybern 60(1), 1988
PMID: 3214648
AUTHOR UNKNOWN, 0
AUTHOR UNKNOWN, 0
Multi-joint coordination during walking and foothold searching in the Blaberus cockroach. I. Kinematics and electromyograms.
Tryba AK, Ritzmann RE., J. Neurophysiol. 83(6), 2000
PMID: 10848552
Tryba AK, Ritzmann RE., J. Neurophysiol. 83(6), 2000
PMID: 10848552
AUTHOR UNKNOWN, 0
airinsect̵a new innovative biological inspired six-legged walking machine driven by fluidic muscles
kerscher, IAS 8 The 8th Conf Intelligent Autonomous Systems (), 2004
kerscher, IAS 8 The 8th Conf Intelligent Autonomous Systems (), 2004
AUTHOR UNKNOWN, 0
AUTHOR UNKNOWN, 0
AUTHOR UNKNOWN, 0
experimental robustness study of positive position feedback control for active vibration suppression
song, J Guidance Eng Notes 25(), 2001
song, J Guidance Eng Notes 25(), 2001
Positive force feedback control of muscles.
Prochazka A, Gillard D, Bennett DJ., J. Neurophysiol. 77(6), 1997
PMID: 9212270
Prochazka A, Gillard D, Bennett DJ., J. Neurophysiol. 77(6), 1997
PMID: 9212270
AUTHOR UNKNOWN, 0
Export
Markieren/ Markierung löschen
Markierte Publikationen
Web of Science
Dieser Datensatz im Web of Science®Quellen
PMID: 16366239
PubMed | Europe PMC
Suchen in
Google Scholar