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 passive behavior, meaning the stiffness of the actuator can be changed on-line. This allows to change the natural frequency of the system while controlling angular joint positions. The main control concept intended for Lucy is joint trajectory control while selecting appropriate actuator compliance characteristics in order to reduce control efforts and energy consumption which is of great importance towards the autonomy of legged robots. Presently Lucy has made her first steps with the implementation of basic control strategies.
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