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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.

Mobile robots --- Robots --- Mechanical Engineering --- Engineering & Applied Sciences --- Mechanical Engineering - General --- Control systems --- Artificial intelligence. --- Systems engineering. --- Engineering systems --- System engineering --- AI (Artificial intelligence) --- Artificial thinking --- Electronic brains --- Intellectronics --- Intelligence, Artificial --- Intelligent machines --- Machine intelligence --- Thinking, Artificial --- Design and construction --- Engineering. --- Human physiology. --- System theory. --- Control engineering. --- Robotics. --- Automation. --- Electronic circuits. --- Robotics and Automation. --- Artificial Intelligence (incl. Robotics). --- Control. --- Circuits and Systems. --- Human Physiology. --- Systems Theory, Control. --- Bionics --- Cognitive science --- Digital computer simulation --- Electronic data processing --- Logic machines --- Machine theory --- Self-organizing systems --- Simulation methods --- Fifth generation computers --- Neural computers --- Electron-tube circuits --- Electric circuits --- Electron tubes --- Electronics --- Automatic factories --- Automatic production --- Computer control --- Engineering cybernetics --- Factories --- Industrial engineering --- Mechanization --- Assembly-line methods --- Automatic control --- Automatic machinery --- CAD/CAM systems --- Robotics --- Automation --- Control engineering --- Control equipment --- Control theory --- Engineering instruments --- Programmable controllers --- Systems, Theory of --- Systems science --- Science --- Human biology --- Medical sciences --- Physiology --- Human body --- Construction --- Industrial arts --- Technology --- Philosophy --- Engineering --- System analysis --- Systems theory. --- Artificial Intelligence. --- Control and Systems Theory.

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• Reference Manager
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• Reference Manager
• EndNote
• RefWorks (Direct export to RefWorks)

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.

Human physiology --- Electrical engineering --- Engineering sciences. Technology --- Artificial intelligence. Robotics. Simulation. Graphics --- Computer. Automation --- automatisering --- fysiologie --- systeemtheorie --- KI (kunstmatige intelligentie) --- systeembeheer --- robots --- elektrische circuits --- automatische regeltechniek

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• Reference Manager
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• Reference Manager
• EndNote
• RefWorks (Direct export to RefWorks)