Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness free pdf download



Book Title: Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness
By: Bram Vandeborght

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.

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