On the definition of central pattern generator and its sensory control
Biological Cybernetics
Force control in locomotion of legged vehicles over rigid and soft surfaces
International Journal of Robotics Research
Three uses for springs in legged locomotion
International Journal of Robotics Research
MMC- a recurrent neural network which can be used as manipulable body model
Proceedings of the fifth international conference on simulation of adaptive behavior on From animals to animats 5
Walknet—a biologically inspired network to control six-legged walking
Neural Networks - Special issue on neural control and robotics: biology and technology
High-Pass Filtered Positive Feedback. Decentralized Control of Cooperation
Proceedings of the Third European Conference on Advances in Artificial Life
Embodied artificial intelligence
Artificial Intelligence
Intelligent compliant motion control
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A biologically inspired active compliant joint using local positive velocity feedback (LPVF)
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Biomechatronics for embodied intelligence of an insectoid robot
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
No need for a body model: Positive velocity feedback for the control of an 18-DOF robot walker
Applied Bionics and Biomechanics
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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.