Decentralized Control of Elastic Limbs in Closed Kinematic Chains

  title={Decentralized Control of Elastic Limbs in Closed Kinematic Chains},
  author={Axel Schneider and Holk Cruse and Josef Schmitz},
  journal={The International Journal of Robotics Research},
  pages={913 - 930}
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… 
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