Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness is popular PDF and ePub book, written by Bram Vanderborght in 2010-10-04, it is a fantastic choice for those who relish reading online the Technology & Engineering genre. Let's immerse ourselves in this engaging Technology & Engineering book by exploring the summary and details provided below. Remember, Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness can be Read Online from any device for your convenience.
Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness Book PDF Summary
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.
Detail Book of Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness PDF
- Author : Bram Vanderborght
- Release : 04 October 2010
- Publisher : Springer Science & Business Media
- ISBN : 9783642134166
- Genre : Technology & Engineering
- Total Page : 290 pages
- Language : English
- PDF File Size : 12,5 Mb
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