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

• Κύριος συγγραφέας: Vanderborght, Bram (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Berlin, Heidelberg : Springer Berlin Heidelberg, 2010.
• Σειρά: Springer Tracts in Advanced Robotics, 63
• Θέματα: 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...

Πίνακας περιεχομένων:

• Part1 Introduction
• Part2 Description of Lucy
• Part3Trajectory generator
• Part4 Trajectory tracking
• Part5 Compliance
• Part6 General conclusions and future work.