A bio-inspired joint controller for the decentral control of a closed kinematic chain consisting of elastic joints

摘要

Several biological studies indicate that positive feedback, as found in the movement control system of insects, together with the elastic properties of joints can be used to generate meaningful movements in closed kinematic chains. Based on these findings we present a novel joint controller concept for the decentral control of joints in closed kinematic chains. Following the biological paragon, we first introduce a simple joint construction which shows passive compliance. This artificial compliant joint is the basic requirement for the use of local positive velocity feedback (LPVF) on the single joint level as described in this paper. Second, we derive the underlying control principle of LPVF in the discrete time domain (dLPVF). In a final test we use this novel control concept on a two-joint planar manipulator turning a crank and discuss the stability of our approach.