000 03023nam a22005535i 4500
001 978-3-642-13417-3
003 DE-He213
005 20140220084538.0
007 cr nn 008mamaa
008 100904s2010 gw | s |||| 0|eng d
020 _a9783642134173
_9978-3-642-13417-3
024 7 _a10.1007/978-3-642-13417-3
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.892
_223
100 1 _aVanderborght, Bram.
_eauthor.
245 1 0 _aDynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness
_h[electronic resource] /
_cby Bram Vanderborght.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg,
_c2010.
300 _a307p. 111 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v63
505 0 _aPart1 Introduction -- Part2 Description of Lucy -- Part3Trajectory generator -- Part4 Trajectory tracking -- Part5 Compliance -- Part6 General conclusions and future work.
520 _aThis 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.
650 0 _aEngineering.
650 0 _aHuman physiology.
650 0 _aArtificial intelligence.
650 0 _aSystems theory.
650 0 _aSystems engineering.
650 1 4 _aEngineering.
650 2 4 _aRobotics and Automation.
650 2 4 _aArtificial Intelligence (incl. Robotics).
650 2 4 _aControl.
650 2 4 _aCircuits and Systems.
650 2 4 _aHuman Physiology.
650 2 4 _aSystems Theory, Control.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783642134166
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v63
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-642-13417-3
912 _aZDB-2-ENG
999 _c112253
_d112253