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

This book reports on the developments of the bipedal walking robot Lucy. Specialabout it is that the biped is not actuated with the classical electrical drives butwith pleated pneumatic artificial muscles. In an antagonistic setup of such musclesboth the torque and the compliance are controllable. From human walking there isevidence that joint compliance plays an important role in energy efficient...