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

2010
ISBN: 978-3-662-51964-6
Verlag: Springer

Buch, Englisch, Band 63, 284 Seiten, Previously published in hardcover, Format (B × H): 155 mm x 235 mm, Gewicht: 458 g

Reihe: Springer Tracts in Advanced Robotics

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.

Zielgruppe

Research

Autoren/Hrsg.

Vanderborght, Bram

Fachgebiete

• Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik
• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Bauelemente, Schaltkreise
• Medizin | Veterinärmedizin Medizin | Public Health | Pharmazie | Zahnmedizin Vorklinische Medizin: Grundlagenfächer Physiologie
• Technische Wissenschaften Elektronik | Nachrichtentechnik Nachrichten- und Kommunikationstechnik Regelungstechnik
• Mathematik | Informatik Mathematik Mathematik Interdisziplinär Systemtheorie

Inhaltsverzeichnis

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