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This paper reports on the control structure of the biped Lucy. The robot is actuated with pleated pneumatic artificial muscles which have interesting characteristics that can be exploited for legged machines. They have a high power to weight ratio, an adaptable compliance and they reduce impact effects.The considered control structure can be divided into two parts: a real-time joint trajectory generator...
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 passive behavior, meaning the stiffness of the actuator can be changed on-line. This allows to change the natural frequency of the system...
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