Concept of combining adaptable passive behaviour with an active control structure using Pleated Pneumatic Artificial Muscles for the bipedal robot LUCY

摘要: This paper reports on the concept of combining passive behaviour with an active control strategy using Pleated Pneumatic Artificial Muscles. These actuators have a very high power to weight ratio and inherent adaptable compliance which makes them extremely suitable for legged machines. Lucy, our Bipedal robot, is equipped these muscles in order walk dynamically stable way while will be used alter natural dynamics system. The presents Muscle its characteristics. It shows implementation actuate rotative joint discusses briefly low-level controller designed settle pressures each muscle. For high-level philosophy considered explaining detail adaptability compliance. different concepts design Lucy discussed. Special attention given flexibility mechanical construction elaborate hardware hereby focussing modularity both electronic design.