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

Livre 59 sur 153: Springer Tracts in Advanced Robotics

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9783662519646: Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness
Couverture souple
ISBN 10 : 366251964X ISBN 13 : 9783662519646
Editeur : Springer, 2016

Synopsis

This book reports on the developments of the bipedal walking robot Lucy. Specialabout it is that the biped is not actuated with the classical electrical drives butwith pleated pneumatic artificial muscles. In an antagonistic setup of such musclesboth the torque and the compliance are controllable. From human walking there isevidence that joint compliance plays an important role in energy efficient walkingand running. Moreover pneumatic artificial muscles have a high power to weightratio and can be coupled directly without complex gearing mechanism, which canbe beneficial towards legged mechanisms. Additionally, they have the capability ofabsorbing impact shocks and store and release motion energy. This book gives acomplete description of Lucy: the hardware, the electronics and the software. Ahybrid simulation program, combining the robot dynamics and muscle/valve thermodynamics,has been written to evaluate control strategies before implementingthem in the real biped.

Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

À propos de la quatrième de couverture

This book reports on the developments of the bipedal walking robot Lucy. Specialabout it is that the biped is not actuated with the classical electrical drives butwith pleated pneumatic artificial muscles. In an antagonistic setup of such musclesboth the torque and the compliance are controllable. From human walking there isevidence that joint compliance plays an important role in energy efficient walkingand running. Moreover pneumatic artificial muscles have a high power to weightratio and can be coupled directly without complex gearing mechanism, which canbe beneficial towards legged mechanisms. Additionally, they have the capability ofabsorbing impact shocks and store and release motion energy. This book gives acomplete description of Lucy: the hardware, the electronics and the software. Ahybrid simulation program, combining the robot dynamics and muscle/valve thermodynamics,has been written to evaluate control strategies before implementingthem in the real biped.

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
Springer
Date d'édition
2016
Langue
anglais
ISBN 10 
366251964X
ISBN 13 
9783662519646
Reliure
Broché
Nombre de pages
284
Coordonnées du fabricant
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