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Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness: Springer Tracts in Advanced Robotics, cartea 63

Autor Bram Vanderborght
en Limba Engleză Paperback – 23 aug 2016
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.
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Specificații

ISBN-13: 9783662519646
ISBN-10: 366251964X
Pagini: 284
Ilustrații: XVI, 284 p.
Dimensiuni: 155 x 235 mm
Greutate: 0.43 kg
Ediția:2010
Editura: Springer Berlin, Heidelberg
Colecția Springer
Seria Springer Tracts in Advanced Robotics

Locul publicării:Berlin, Heidelberg, Germany

Cuprins

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

Textul de pe ultima copertă

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.

Caracteristici

Reports recent research in bipedal walking exercised with the robot Lucy; the biped robot Lucy is introduced which is not actuated with the classical electrical drives but with pleated pneumatic artificial muscles State- of-the Art Book Written by leading experts in this field