TY - BOOK ID - 8581509 TI - Dynamic stabilisation of the biped lucy powered by actuators with controllable stiffness PY - 2010 SN - 3642134165 9786613476364 3642134173 1283476363 PB - New York : Springer, DB - UniCat KW - Mobile robots KW - Robots KW - Mechanical Engineering KW - Engineering & Applied Sciences KW - Mechanical Engineering - General KW - Control systems KW - Artificial intelligence. KW - Systems engineering. KW - Engineering systems KW - System engineering KW - AI (Artificial intelligence) KW - Artificial thinking KW - Electronic brains KW - Intellectronics KW - Intelligence, Artificial KW - Intelligent machines KW - Machine intelligence KW - Thinking, Artificial KW - Design and construction KW - Engineering. KW - Human physiology. KW - System theory. KW - Control engineering. KW - Robotics. KW - Automation. KW - Electronic circuits. KW - Robotics and Automation. KW - Artificial Intelligence (incl. Robotics). KW - Control. KW - Circuits and Systems. KW - Human Physiology. KW - Systems Theory, Control. KW - Bionics KW - Cognitive science KW - Digital computer simulation KW - Electronic data processing KW - Logic machines KW - Machine theory KW - Self-organizing systems KW - Simulation methods KW - Fifth generation computers KW - Neural computers KW - Electron-tube circuits KW - Electric circuits KW - Electron tubes KW - Electronics KW - Automatic factories KW - Automatic production KW - Computer control KW - Engineering cybernetics KW - Factories KW - Industrial engineering KW - Mechanization KW - Assembly-line methods KW - Automatic control KW - Automatic machinery KW - CAD/CAM systems KW - Robotics KW - Automation KW - Control engineering KW - Control equipment KW - Control theory KW - Engineering instruments KW - Programmable controllers KW - Systems, Theory of KW - Systems science KW - Science KW - Human biology KW - Medical sciences KW - Physiology KW - Human body KW - Construction KW - Industrial arts KW - Technology KW - Philosophy KW - Engineering KW - System analysis KW - Systems theory. KW - Artificial Intelligence. KW - Control and Systems Theory. UR - https://www.unicat.be/uniCat?func=search&query=sysid:8581509 AB - 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. ER -