Springer Tracts in Advanced Robotics

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

Authors: Vanderborght, Bram

  • Reports on the latest research into bipedal walking conducted with the robot Lucy
  • Introduces the biped robot Lucy, which is not actuated with classical electrical drives but with pleated pneumatic artificial muscles
  • Written by leading experts in this field
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eBook $149.00
price for USA (gross)
  • ISBN 978-3-642-13417-3
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $219.99
price for USA
  • ISBN 978-3-642-13416-6
  • Free shipping for individuals worldwide
  • Online orders shipping within 2-3 days.
Softcover $199.99
price for USA
  • ISBN 978-3-662-51964-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
About this book

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.

Table of contents (6 chapters)

Buy this book

eBook $149.00
price for USA (gross)
  • ISBN 978-3-642-13417-3
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $219.99
price for USA
  • ISBN 978-3-642-13416-6
  • Free shipping for individuals worldwide
  • Online orders shipping within 2-3 days.
Softcover $199.99
price for USA
  • ISBN 978-3-662-51964-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
63
Copyright
2010
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-642-13417-3
DOI
10.1007/978-3-642-13417-3
Hardcover ISBN
978-3-642-13416-6
Softcover ISBN
978-3-662-51964-6
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XVI, 284
Topics