NDLI: Local control mechanisms in six-legged walking

Content Provider	IEEE Xplore Digital Library
Author	Schilling, M. Schneider, A. Cruse, H. Schmitz, J.
Copyright Year	2008
Description	Author affiliation: Dept. for Biol. Cybern., Univ. of Bielefeld, Bielefeld (Schilling, M.; Schneider, A.; Cruse, H.; Schmitz, J.)
Abstract	Walknet, a biological inspired neural network, has been proposed to control walking of a 6-legged; 18 DoF walker. Control of stance movement is difficult because all legs in stance are mechanically coupled. Based on the idea of velocity feedback, recently a specific revision, local positive velocity feedback, has been proposed to solve this problem using an extremely decentralised architecture. In this control scheme the locally measured joint velocity of an elastic joint is fed into the same joint in the next time step to maintain the movement. At the same time an additional part of the same joint controller observes the mechanical joint power to confine the positive feedback. In this paper, we show that this principle can actually be successfully applied to move a complete 6-legged system. This is tested using a dynamic simulation.
Starting Page	2655
Ending Page	2660
File Size	988310
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650591
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Leg Joints Animals Legged locomotion Torque Biology Switches
Content Type	Text
Resource Type	Article

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