[robotics-worldwide] New book "Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness"

Bram Vanderborght bram.vanderborght at vub.ac.be
Wed Oct 6 02:16:38 PDT 2010

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:



Author's page:



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 at vub.ac.be

Skype: bvdborgh

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


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