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Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness

Author: Bram Vanderborght
Publisher: Berlin ; Heidelberg : Springer, ©2010.
Series: Springer tracts in advanced robotics, v. 63.
Edition/Format:   eBook : Document : EnglishView all editions and formats
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  Read more...
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Genre/Form: Electronic books
Additional Physical Format: Print version:
Vanderborght, Bram.
Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness.
Berlin ; Heidelberg : Springer, ©2010
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Bram Vanderborght
ISBN: 9783642134173 3642134173 9783642134166 3642134165
OCLC Number: 676697695
Description: 1 online resource (xvi, 281 pages) : color illustrations.
Contents: Part1 Introduction --
Part2 Description of Lucy --
Part3Trajectory generator --
Part4 Trajectory tracking --
Part5 Compliance --
Part6 General conclusions and future work.
Series Title: Springer tracts in advanced robotics, v. 63.
Responsibility: Bram Vanderborght.

Abstract:

The bipedal robot Lucy boasts breakthrough technology, using pleated pneumatic artificial muscles instead of the customary electrical drives. This book gives a complete description of Lucy's  Read more...

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