---
_id: '1199'
abstract:
- lang: eng
text: " The generation of movements in closed kinematic chains
as opposed to open kinematic chains is a challenging task because all participating
joints have to be moved in a highly coordinated manner in order to avoid destructive
tensions in the limb. In this paper we present a new decentral joint controller
which uses low level interactions between a moving joint and its environment consisting
of neighboring joints, the body and the surroundings the agent is placed in. This
local joint controller is based on a Local Positive Velocity Feedback (LPVF) mechanism
which exploits the elastic properties of the joint. The control strategy is inspired
by biological findings in the walking system of stick insects. We will show that
a closed kinematic chain consisting of several LPVF controlled joints, though
lacking a central controller, can solve tasks which need a high level of inter-joint
coordination. As an example, a planar manipulator turning a crank is presented.
In a further step, the LPVF algorithm is extended to switched LPVF in order to
improve the mechanical power conversion. The extended capabilities are proven
in a second experiment in which a 3DoF test leg generates powerful stance movements.\r\n
\ "
author:
- first_name: Axel
full_name: Schneider, Axel
id: '213480'
last_name: Schneider
orcid: 0000-0002-6632-3473
orcid_put_code_url: https://api.orcid.org/v2.0/0000-0002-6632-3473/work/94914480
- first_name: Holk
full_name: Cruse, Holk
last_name: Cruse
- first_name: Josef
full_name: Schmitz, Josef
last_name: Schmitz
citation:
alphadin: 'Schneider, Axel ; Cruse, Holk ; Schmitz,
Josef: Decentralized Control of Elastic Limbs in Closed Kinematic Chains.
In: The International Journal of Robotics Research Bd. 25, SAGE Publications
(2006), Nr. 9, S. 913–930'
ama: Schneider A, Cruse H, Schmitz J. Decentralized Control of Elastic Limbs in
Closed Kinematic Chains. The International Journal of Robotics Research.
2006;25(9):913-930. doi:10.1177/0278364906068941
apa: Schneider, A., Cruse, H., & Schmitz, J. (2006). Decentralized Control of
Elastic Limbs in Closed Kinematic Chains. The International Journal of Robotics
Research, 25(9), 913–930. https://doi.org/10.1177/0278364906068941
bibtex: '@article{Schneider_Cruse_Schmitz_2006, title={Decentralized Control of
Elastic Limbs in Closed Kinematic Chains}, volume={25}, DOI={10.1177/0278364906068941},
number={9}, journal={The International Journal of Robotics Research}, publisher={SAGE
Publications}, author={Schneider, Axel and Cruse, Holk and Schmitz, Josef}, year={2006},
pages={913–930} }'
chicago: 'Schneider, Axel, Holk Cruse, and Josef Schmitz. “Decentralized Control
of Elastic Limbs in Closed Kinematic Chains.” The International Journal of
Robotics Research 25, no. 9 (2006): 913–30. https://doi.org/10.1177/0278364906068941.'
ieee: A. Schneider, H. Cruse, and J. Schmitz, “Decentralized Control of Elastic
Limbs in Closed Kinematic Chains,” The International Journal of Robotics Research,
vol. 25, no. 9, pp. 913–930, 2006.
mla: Schneider, Axel, et al. “Decentralized Control of Elastic Limbs in Closed Kinematic
Chains.” The International Journal of Robotics Research, vol. 25, no. 9,
SAGE Publications, 2006, pp. 913–30, doi:10.1177/0278364906068941.
short: A. Schneider, H. Cruse, J. Schmitz, The International Journal of Robotics
Research 25 (2006) 913–930.
date_created: 2021-06-03T19:35:37Z
date_updated: 2024-03-27T14:01:13Z
doi: 10.1177/0278364906068941
intvolume: ' 25'
issue: '9'
language:
- iso: eng
page: 913-930
publication: The International Journal of Robotics Research
publication_identifier:
eissn:
- 1741-3176
issn:
- 0278-3649
publication_status: published
publisher: SAGE Publications
related_material:
record:
- id: '1708'
relation: later_version
status: public
status: public
title: Decentralized Control of Elastic Limbs in Closed Kinematic Chains
type: journal_article
user_id: '237837'
volume: 25
year: '2006'
...