Winching up heavy loads with a compliant arm: a new local joint controller

Biological cybernetics
Axel SchneiderJosef Schmitz

Abstract

A closed kinematic chain, like an arm that operates a crank, has a constrained movement space. A meaningful movement of the chain's endpoint is only possible along the free movement directions which are given implicitly by the contour of the object that confines the movement of the chain. Many technical solutions for such a movement task, in particular those used in robotics, use central controllers and force-torque sensors in the arm's wrist or a leg's ankle to construct a coordinate system (task frame formalism) at the local point of contact the axes of which coincide with the free and constrained movement directions. Motivated by examples from biology, we introduce a new control system that solves a constrained movement task. The control system is inspired by the control architecture that is found in stick insects like Carausius morosus. It consists of decentral joint controllers that work on elastic joints (compliant manipulator). The decentral controllers are based on local positive velocity feedback (LPVF). It has been shown earlier that LPVF enables contour following of a limb in a compliant motion task without a central controller. In this paper we extend LPVF in such a way that it is even able to follow a contour if a ...Continue Reading

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Citations

Jul 22, 2008·Journal of Comparative Physiology. A, Neuroethology, Sensory, Neural, and Behavioral Physiology·Jérémy Lévy, Holk Cruse
Jul 5, 2013·Biological cybernetics·Malte SchillingHolk Cruse
Jul 22, 2008·Journal of Comparative Physiology. A, Neuroethology, Sensory, Neural, and Behavioral Physiology·Jérémy Lévy, Holk Cruse

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