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

Springer Tracts in Advanced Robotics Band 63

Bram Vanderborght

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Beschreibung

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.

Produktdetails

Einband Taschenbuch
Seitenzahl 284
Erscheinungsdatum 23.08.2016
Sprache Englisch
ISBN 978-3-662-51964-6
Verlag Springer Berlin
Maße (L/B/H) 23.5/15.5/1.6 cm
Gewicht 462 g
Auflage Softcover reprint of the original 1st ed. 2010

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