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Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness: 63 (Springer Tracts in Advanced Robotics, 63) - Tapa dura

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9783642134166: Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness: 63 (Springer Tracts in Advanced Robotics, 63)
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ISBN 10: 3642134165 ISBN 13: 9783642134166
Editorial: Springer-Verlag Berlin and Heidelberg GmbH & Co. K, 2010

Sinopsis

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.

"Sinopsis" puede pertenecer a otra edición de este libro.

De la contraportada

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.

"Sobre este título" puede pertenecer a otra edición de este libro.

Editorial
Springer-Verlag Berlin and Heidelberg GmbH & Co. K
Año de publicación
2010
Idioma
Inglés
ISBN 10 
3642134165
ISBN 13 
9783642134166
Encuadernación
Tapa dura
Número de páginas
284
Contacto del fabricante
Springer-Verlag GmbH
customerservice@springernature.com

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