Publication Name: Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
The power to weight ratio of the actuators is an important design factor for running robots. Therefore pleated pneumatic artificial muscles are optimal actuators. Obviously the weight of the pressure control valves has to be taken into... more
The power to weight ratio of the actuators is an important design factor for running robots. Therefore pleated pneumatic artificial muscles are optimal actuators. Obviously the weight of the pressure control valves has to be taken into consideration as well. For this application, standard pressure regulating valves are rather heavy and slow. An intelligent controlled number of fast switching on-off
In this paper, we present the results of walking experiments with a below-knee amputee fitted with a biologically-inspired prosthesis. The design of the prosthesis is described together with the characteristics and working principle of... more
In this paper, we present the results of walking experiments with a below-knee amputee fitted with a biologically-inspired prosthesis. The design of the prosthesis is described together with the characteristics and working principle of its actuators. First experimental results with an amputee are presented that demonstrate the encouraging performance of the prosthesis in restoring ankle torque to the user during level walking.
Publication Date: 2009
Publication Name: 2009 IEEE International Conference on Rehabilitation Robotics
This paper describes the biped Lucy and it's control architecture that will be used. Lucy is actuated by Pleated Pneumatic Artiflcial Muscles, which have a very high power to weight ratio and an inherent adaptable com- pliance. These... more
This paper describes the biped Lucy and it's control architecture that will be used. Lucy is actuated by Pleated Pneumatic Artiflcial Muscles, which have a very high power to weight ratio and an inherent adaptable com- pliance. These characteristics will be used to make Lucy walk in a dynamically stable manner while exploiting the adaptable passive behavior of these muscles.
... Van Ham (2006) showed that a linearization is justified for angles smaller than 45 2 if B8C 5, due to the quasi-linear torque characteristic. ... the compliance is dependent on the joint angle as can be seen in (5). The relationship... more
... Van Ham (2006) showed that a linearization is justified for angles smaller than 45 2 if B8C 5, due to the quasi-linear torque characteristic. ... the compliance is dependent on the joint angle as can be seen in (5). The relationship between energy consumption and stiff-ness is a ...
Publication Date: 2009
Publication Name: The International Journal of Robotics Research
Abstract. This paper reports on the bipedal robot Lucy which is actuated by pleated pneumatic artificial muscles. This novel actuator is very suitable to be used in machines which move by means of legs. Besides its high power to weight... more
Abstract. This paper reports on the bipedal robot Lucy which is actuated by pleated pneumatic artificial muscles. This novel actuator is very suitable to be used in machines which move by means of legs. Besides its high power to weight ratio the actuator has an adaptable ...
... The biped Lucy, powered by pleated pneumatic artificial mus-cles, has been built and controlled and is able to walk up to a speed of 0.15 m/s. The pressures inside the muscles are controlled by a joint trajectory tracking controller... more
... The biped Lucy, powered by pleated pneumatic artificial mus-cles, has been built and controlled and is able to walk up to a speed of 0.15 m/s. The pressures inside the muscles are controlled by a joint trajectory tracking controller to track the desired joint trajectories calculated ...
Abstract: Thepur poseof this studyis to design and develop an anthropomorphic based eye-system, used in the intelligent huggable robot ANTY. The intelligent huggable robot ANTY aspires social children-robot interactions relying on... more
Abstract: Thepur poseof this studyis to design and develop an anthropomorphic based eye-system, used in the intelligent huggable robot ANTY. The intelligent huggable robot ANTY aspires social children-robot interactions relying on face-to-face communication. The anatomy of anan thropomorphic eye and its movements are presented and ,linked to ,the design of the artificial robot eye-system. Keywords: huggable robot, artificial eyes, complaint
The current control architecture focuses on the trajectory generator and the tracking controller, which is divided into a computed torque controller, a delta-p unit, a PI position controller and a pressure bang-bang controller. The... more
The current control architecture focuses on the trajectory generator and the tracking controller, which is divided into a computed torque controller, a delta-p unit, a PI position controller and a pressure bang-bang controller. The trajectory generator provides polynomial joint ...
