Titlebook: Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness; Bram Vanderborght Book 2010 Springer-Verlag Berl

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1610-7438 classical electrical drives but with pleated pneumatic artifThis book reports on the developments of the bipedal walking robot Lucy. Specialabout it is that the biped is not actuated with the classical electrical drives butwith pleated pneumatic artificial muscles. In an antagonistic setup of such m

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Book 2010al drives butwith pleated pneumatic artificial muscles. In an antagonistic setup of such musclesboth the torque and the compliance are controllable. From human walking there isevidence that joint compliance plays an important role in energy efficient walkingand running. Moreover pneumatic artificial

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General Conclusions and Future Work,er should select an appropriate stiffness so the motion of the natural dynamics correspond as much as possible to the reference trajectories. Advantage is that the robot will be capable of starting, stopping and walking at different walking speeds and step lengths.

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