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- Ulrich Steinkühler, Holk Cruse
- Biological Cybernetics
- 1998

The paper proposes a model for the control of a multisegmented manipulator with redundant degrees of freedom. On the basis of an earlier model, the so-called MMC net, a simplified version is proposed here which has several advantages. First, it can easily be scaled up for the 3D case. Second, for the linear version a complete convergence proof is possible.… (More)

- Holk Cruse, Ulrich Steinkühler
- Biological Cybernetics
- 1993

For the control of the movement of a multijoint manipulator a “mental model” which represents the geometrical properties of the arm may prove helpful. Using this model the direct and the inverse kinematic problem could be solved. Here we propose such a model which is based on a recurrent network. It is realized for the example of a three-joint manipulator… (More)

- Ulrich Steinkühler, Wolf-Jürgen Beyn, Holk Cruse
- Neural Processing Letters
- 1995

The paper proposes a model for the control of a multisegmented arm with redundant degrees of freedom. On the basis of an earlier model, the so-called MMC net, a simplified version is proposed here which has several advantages. First, it can easily be scaled up for the 3D case. Second, for the linear version a complete convergence proof is possible. Third,… (More)

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