A Biologically Inspired Active Compliant Joint Using Local Positive Velocity Feedback (LPVF)
A. Schneider, H. Cruse, J. Schmitz, IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics) 35 (2005) 1120–1130.
Download
Es wurde kein Volltext hochgeladen. Nur Publikationsnachweis!
Artikel
| Veröffentlicht
| Englisch
Autor*in
Schneider, Axel
;
Cruse, Holk;
Schmitz, Josef
;
Cruse, Holk;
Schmitz, JosefAbstract
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.
Erscheinungsjahr
Zeitschriftentitel
IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics)
Band
35
Zeitschriftennummer
6
Seite
1120-1130
ISSN
FH-PUB-ID
Zitieren
Schneider, Axel ; Cruse, Holk ; Schmitz, Josef: A Biologically Inspired Active Compliant Joint Using Local Positive Velocity Feedback (LPVF). In: IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics) Bd. 35, Institute of Electrical and Electronics Engineers (IEEE) (2005), Nr. 6, S. 1120–1130
Schneider A, Cruse H, Schmitz J. A Biologically Inspired Active Compliant Joint Using Local Positive Velocity Feedback (LPVF). IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics). 2005;35(6):1120-1130. doi:10.1109/TSMCB.2005.850147
Schneider, A., Cruse, H., & Schmitz, J. (2005). A Biologically Inspired Active Compliant Joint Using Local Positive Velocity Feedback (LPVF). IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics), 35(6), 1120–1130. https://doi.org/10.1109/TSMCB.2005.850147
@article{Schneider_Cruse_Schmitz_2005, title={A Biologically Inspired Active Compliant Joint Using Local Positive Velocity Feedback (LPVF)}, volume={35}, DOI={10.1109/TSMCB.2005.850147}, number={6}, journal={IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics)}, publisher={Institute of Electrical and Electronics Engineers (IEEE)}, author={Schneider, Axel and Cruse, Holk and Schmitz, Josef}, year={2005}, pages={1120–1130} }
Schneider, Axel, Holk Cruse, and Josef Schmitz. “A Biologically Inspired Active Compliant Joint Using Local Positive Velocity Feedback (LPVF).” IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics) 35, no. 6 (2005): 1120–30. https://doi.org/10.1109/TSMCB.2005.850147.
A. Schneider, H. Cruse, and J. Schmitz, “A Biologically Inspired Active Compliant Joint Using Local Positive Velocity Feedback (LPVF),” IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics), vol. 35, no. 6, pp. 1120–1130, 2005.
Schneider, Axel, et al. “A Biologically Inspired Active Compliant Joint Using Local Positive Velocity Feedback (LPVF).” IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics), vol. 35, no. 6, Institute of Electrical and Electronics Engineers (IEEE), 2005, pp. 1120–30, doi:10.1109/TSMCB.2005.850147.
Google Scholar