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Robotforum.ir • مشاهده مبحث - New Springer star series book

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New book "Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness"

Dear Colleagues,


I am very pleased to announce that the following book has been published in the Springer STAR series:



“Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness”

Book Series: Springer Tracts in Advanced Robotics , Vol. 63

1st Edition., 2011, 307 p. 111 illus. in color., Hardcover

Author: Vanderborght, Bram

ISBN: 978-3-642-13416-6



Publisher's page:

http://springer.com/978-3-642-13416-6



Author’s page:

http://mech.vub.ac.be/bram.htm



About this book:

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.



Kind regards,

Bram Vanderborght





-------------------------------------------

Prof. dr. ir. Bram Vanderborght

FWO Researcher



Vrije Universiteit Brussel

Department of Mechanical Engineering

Pleinlaan, 2, B-1050 Brussels, Belgium



Italian Institute of Technology (IIT)

Advanced Robotics

Via Morego 30, 16163, Genova Italy



Mobile BE: +32 486 522 962

Mobile IT: +39 3480 890 421



email: bram.vanderborght@vub.ac.be

Skype: bvdborgh

URL : http://mech.vub.ac.be/bram.htm


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