Bram Vanderborght

Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness

• Broschiertes Buch

Produktbeschreibung

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.

Produktdetails

• Springer Tracts in Advanced Robotics 63
• Verlag: Springer / Springer Berlin Heidelberg / Springer, Berlin
• Artikelnr. des Verlages: 978-3-662-51964-6
• 2010
• Seitenzahl: 300
• Erscheinungstermin: 23. August 2016
• Englisch
• Abmessung: 235mm x 155mm x 17mm
• Gewicht: 462g
• ISBN-13: 9783662519646
• ISBN-10: 366251964X
• Artikelnr.: 48942437

Inhaltsangabe

Part1 Introduction.- Part2 Description of Lucy.- Part3Trajectory generator.- Part4 Trajectory tracking.- Part5 Compliance.- Part6 General conclusions and future work