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

  • Bram Vanderborght

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 63)

Table of contents

  1. Front Matter
  2. Bram Vanderborght
    Pages 1-40
  3. Bram Vanderborght
    Pages 41-91
  4. Bram Vanderborght
    Pages 93-142
  5. Bram Vanderborght
    Pages 143-175
  6. Bram Vanderborght
    Pages 177-213
  7. Bram Vanderborght
    Pages 215-221
  8. Back Matter

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.


Artificial Muscles Bipedal Locomotion Compliant Actuation Energy Efficiency Robotics

Authors and affiliations

  • Bram Vanderborght
    • 1
  1. 1.Vrije Universiteit BrusselBrusselBelgium

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-642-13417-3
  • Copyright Information Springer-Verlag Berlin Heidelberg 2010
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-642-13416-6
  • Online ISBN 978-3-642-13417-3
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • About this book