Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness
(Sprache: Englisch)
The bipedal robot Lucy boasts breakthrough technology, using pleated pneumatic artificial muscles instead of the customary electrical drives. This book gives a complete description of Lucy's hardware, electronics and software and reports latest developments.
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The bipedal robot Lucy boasts breakthrough technology, using pleated pneumatic artificial muscles instead of the customary electrical drives. This book gives a complete description of Lucy's hardware, electronics and software and reports latest developments.
Klappentext zu „Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness “
This book reports on the developments of the bipedal walking robot Lucy. Specialabout it is that the biped is not actuated with the classical electrical drives butwith pleated pneumatic artificial muscles. In an antagonistic setup of such musclesboth the torque and the compliance are controllable. From human walking there isevidence that joint compliance plays an important role in energy efficient walkingand running. Moreover pneumatic artificial muscles have a high power to weightratio and can be coupled directly without complex gearing mechanism, which canbe beneficial towards legged mechanisms. Additionally, they have the capability ofabsorbing impact shocks and store and release motion energy. This book gives acomplete description of Lucy: the hardware, the electronics and the software. Ahybrid simulation program, combining the robot dynamics and muscle/valve thermodynamics,has been written to evaluate control strategies before implementingthem in the real biped.
Inhaltsverzeichnis zu „Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness “
Part1 Introduction.- Part2 Description of Lucy.- Part3Trajectory generator.- Part4 Trajectory tracking.- Part5 Compliance.- Part6 General conclusions and future work
Bibliographische Angaben
- Autor: Bram Vanderborght
- 2010, 284 Seiten, Masse: 16,3 x 24,7 cm, Gebunden, Englisch
- Verlag: Springer
- ISBN-10: 3642134165
- ISBN-13: 9783642134166
- Erscheinungsdatum: 04.10.2010
Sprache:
Englisch
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