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03131nam a22005895i 4500 |
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978-3-642-13417-3 |
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DE-He213 |
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20151031101113.0 |
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cr nn 008mamaa |
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100904s2010 gw | s |||| 0|eng d |
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|a 9783642134173
|9 978-3-642-13417-3
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|a 10.1007/978-3-642-13417-3
|2 doi
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|d GrThAP
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|a TJ210.2-211.495
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|a T59.5
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|a 629.892
|2 23
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|a Vanderborght, Bram.
|e author.
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|a Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness
|h [electronic resource] /
|c by Bram Vanderborght.
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| 264 |
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|a Berlin, Heidelberg :
|b Springer Berlin Heidelberg,
|c 2010.
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| 300 |
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|a 307 p. 111 illus. in color.
|b online resource.
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|a text
|b txt
|2 rdacontent
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|a computer
|b c
|2 rdamedia
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|a online resource
|b cr
|2 rdacarrier
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| 347 |
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|a text file
|b PDF
|2 rda
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|a Springer Tracts in Advanced Robotics,
|x 1610-7438 ;
|v 63
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| 505 |
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|a Part1 Introduction -- Part2 Description of Lucy -- Part3Trajectory generator -- Part4 Trajectory tracking -- Part5 Compliance -- Part6 General conclusions and future work.
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|a 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.
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|a Engineering.
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| 650 |
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|a Human physiology.
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| 650 |
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|a Artificial intelligence.
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| 650 |
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|a System theory.
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| 650 |
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|a Control engineering.
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| 650 |
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|a Robotics.
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| 650 |
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|a Automation.
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| 650 |
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|a Electronic circuits.
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| 650 |
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|a Engineering.
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| 650 |
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|a Robotics and Automation.
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| 650 |
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|a Artificial Intelligence (incl. Robotics).
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| 650 |
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|a Control.
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| 650 |
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|a Circuits and Systems.
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| 650 |
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|a Human Physiology.
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| 650 |
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|a Systems Theory, Control.
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| 710 |
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|a SpringerLink (Online service)
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|t Springer eBooks
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| 776 |
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|i Printed edition:
|z 9783642134166
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| 830 |
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|a Springer Tracts in Advanced Robotics,
|x 1610-7438 ;
|v 63
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| 856 |
4 |
0 |
|u http://dx.doi.org/10.1007/978-3-642-13417-3
|z Full Text via HEAL-Link
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| 912 |
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|a ZDB-2-ENG
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| 950 |
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|a Engineering (Springer-11647)
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