Dynamic Stabilisation Of The Biped Lucy Powered By Actuators With Controllable Stiffness

byBram Vanderborght

Paperback | August 23, 2016

Dynamic Stabilisation Of The Biped Lucy Powered By Actuators With Controllable Stiffness by Bram Vanderborght
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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.
Part1 Introduction.- Part2 Description of Lucy.- Part3Trajectory generator.- Part4 Trajectory tracking.- Part5 Compliance.- Part6 General conclusions and future work
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Title:Dynamic Stabilisation Of The Biped Lucy Powered By Actuators With Controllable StiffnessFormat:PaperbackProduct dimensions:9.25 X 6.1 X 0.07 inShipping dimensions:9.25 X 6.1 X 0.07 inPublished:August 23, 2016Publisher:Springer Berlin HeidelbergLanguage:English

The following ISBNs are associated with this title:

ISBN - 10:366251964X

ISBN - 13:9783662519646

Appropriate for ages: All ages

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