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

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...

Descripción completa

Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor principal: Vanderborght, Bram (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2010.
Edición:1st ed. 2010.
Colección:Springer Tracts in Advanced Robotics, 63
Temas:
Control engineering.
Robotics.
Automation.
Artificial intelligence.
Electronic circuits.
Human physiology.
System theory.
Control theory.
Control, Robotics, Automation.
Artificial Intelligence.
Control and Systems Theory.
Electronic Circuits and Systems.
Human Physiology.
Systems Theory, Control .
Acceso en línea:Texto Completo
Tabla de Contenidos:
  • Part1 Introduction
  • Part2 Description of Lucy
  • Part3Trajectory generator
  • Part4 Trajectory tracking
  • Part5 Compliance
  • Part6 General conclusions and future work.

Ejemplares similares