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Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness [electronic resource] /by Bram Vanderborght.

by Vanderborght, Bram [author.]; SpringerLink (Online service).
Material type: materialTypeLabelBookSeries: Springer Tracts in Advanced Robotics: 63Publisher: Berlin, Heidelberg : Springer Berlin Heidelberg, 2010.Description: 307p. 111 illus. in color. online resource.ISBN: 9783642134173.Subject(s): Engineering | Human physiology | Artificial intelligence | Systems theory | Systems engineering | Engineering | Robotics and Automation | Artificial Intelligence (incl. Robotics) | Control | Circuits and Systems | Human Physiology | Systems Theory, ControlDDC classification: 629.892 Online resources: Click here to access online
Contents:
Part1 Introduction -- Part2 Description of Lucy -- Part3Trajectory generator -- Part4 Trajectory tracking -- Part5 Compliance -- Part6 General conclusions and future work.
In: Springer eBooksSummary: This book reports on the developments of the bipedal walking robot Lucy. Special about it is that the biped is not actuated with the classical electrical drives but with pleated pneumatic artificial muscles. In an antagonistic setup of such muscles both the torque and the compliance are controllable. From human walking there is evidence that joint compliance plays an important role in energy efficient walking and running. Moreover pneumatic artificial muscles have a high power to weight ratio and can be coupled directly without complex gearing mechanism, which can be beneficial towards legged mechanisms. Additionally, they have the capability of absorbing impact shocks and store and release motion energy. This book gives a complete description of Lucy: the hardware, the electronics and the software. A hybrid simulation program, combining the robot dynamics and muscle/valve thermodynamics, has been written to evaluate control strategies before implementing them in the real biped.
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Part1 Introduction -- Part2 Description of Lucy -- Part3Trajectory generator -- Part4 Trajectory tracking -- Part5 Compliance -- Part6 General conclusions and future work.

This book reports on the developments of the bipedal walking robot Lucy. Special about it is that the biped is not actuated with the classical electrical drives but with pleated pneumatic artificial muscles. In an antagonistic setup of such muscles both the torque and the compliance are controllable. From human walking there is evidence that joint compliance plays an important role in energy efficient walking and running. Moreover pneumatic artificial muscles have a high power to weight ratio and can be coupled directly without complex gearing mechanism, which can be beneficial towards legged mechanisms. Additionally, they have the capability of absorbing impact shocks and store and release motion energy. This book gives a complete description of Lucy: the hardware, the electronics and the software. A hybrid simulation program, combining the robot dynamics and muscle/valve thermodynamics, has been written to evaluate control strategies before implementing them in the real biped.

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