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
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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.
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
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Ambe Y, Aoi S, Nachstedt T, Manoonpong P, Wörgötter F, Matsuno F., PLoS One 13(2), 2018
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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
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