Perceptual control theory project

[amatic]

Hi,
Anyone here familiar with perceptual control theory?
There is a wonderful simulation of a human arm written in delphi, which manages positioning without inverse kinematics, using a hierarchy of feedback loops. Very simple and not computationally demanding. You can download it here: http://www.billpct.org/.

I made a mechanical robot arm that uses the same principles, and it would sure be interesting to make something similar in V-Rep. I'll start going though tutorials when I finish up the mechanical arm, and if anyone is interested in this theory I'd be glad to provide more information.

Here is a paper by W.T. Powers describing the structure of feedback loops in the arm along with a simple visual system:
http://www.livingcontrolsystems.com/dem ... n_calc.pdf

[amatic]

Here is a video of the arm I made.

https://www.youtube.com/watch?v=wQ6FGeSjN9c


Diagram of feedback loops: