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Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness (Springer Tracts in Advanced Robotics, Band 63) - Softcover

Buch 59 von 153: Springer Tracts in Advanced Robotics

Vanderborght, Bram

 
9783662519646: Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness (Springer Tracts in Advanced Robotics, Band 63)
Softcover
ISBN 10: 366251964X ISBN 13: 9783662519646
Verlag: Springer, 2016

Inhaltsangabe

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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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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Verlag
Springer
Erscheinungsdatum
2016
Sprache
Englisch
ISBN 10 
366251964X
ISBN 13 
9783662519646
Einband
Taschenbuch
Anzahl der Seiten
300
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