Local Positive Velocity Feedback (LPVF): Generating Compliant Motions in a Multi-Joint Limb

Abstract

The concept of local positive feedback, which is found in the movement control system of arthropods, can be used to generate meaningful movements in closed kinematic chains. We introduce two simple joint constructions each of which shows a passive compliance. These joints are the basic requirement for using local positive velocity feedback (LPVF) on the single joint level. The underlying control principle of LPVF is derived. As a final benchmark we simulate a planar manipulator, which is equipped with compliant joints each controlled by LPVF. This setup is able to turn a crank at different velocities.