By Bram Vanderborght
This e-book studies at the advancements of the bipedal strolling robotic Lucy. specific approximately it really is that the biped isn't really actuated with the classical electric drives yet with pleated pneumatic man made muscle mass. In an adverse setup of such muscle groups either the torque and the compliance are controllable. From human strolling there's proof that joint compliance performs an enormous function in strength effective strolling and operating. in addition pneumatic synthetic muscular tissues have a excessive energy to weight ratio and will be coupled without delay with out advanced gearing mechanism, that are necessary in the direction of legged mechanisms. also, they've got the aptitude of soaking up effect shocks and shop and unencumber movement strength. This e-book supplies a whole description of Lucy: the undefined, the electronics and the software program. A hybrid simulation application, combining the robotic dynamics and muscle/valve thermodynamics, has been written to judge keep watch over innovations earlier than enforcing them within the actual biped.
Read or Download Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness (Springer Tracts in Advanced Robotics) PDF
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