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

• Main Author: Vanderborght, Bram (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2010.
• Series: Springer Tracts in Advanced Robotics, 63
• Subjects: Engineering.; Human physiology.; Artificial intelligence.; System theory.; Control engineering.; Robotics.; Automation.; Electronic circuits.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).; Control.; Circuits and Systems.; Human Physiology.; Systems Theory, Control.

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...