MACCEPA: The mechanically adjustable compliance and controllable equilibrium position actuator for 'Controlled Passive Walking'

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 2195-2200

  Van Ham, Ronald ^a   Vanderborght, Bram ^a   Van Damme, Michaël ^a   Verrelst, Björn ^a   Lefeber, Dirk ^a  

^a VRIJE UNIVERSITEIT BRUSSEL   (Belgium)

Author keywords

Actuators; Adjustable compliance; Compliance control; Controlled passive walking; Equilibrium position

Indexed keywords

BIPED LOCOMOTION; MOBILE ROBOTS; POSITION CONTROL; SERVOMOTORS; TORQUE MEASUREMENT;

ADJUSTABLE COMPLIANCE; COMPLIANCE CONTROL; CONTROLLED PASSIVE WALKING; EQUILIBRIUM POSITION;

ACTUATORS;

EID: 33845659138     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1642029     Document Type: Conference Paper

References (14)

1. Thomas A. McMahon and George C. Cheng. The mechanics of running: How does stiffness couple with speed? Journal of Biomechanics, 23:65-78, 1990.
2. T. A. McMahon. The role of compliance in mammalian running gaits. Journal of Experimental Biology, 115:263-282, 1985.
3. Pratt, G. A. and Williamson, M. M. [1995]. Series elastic actuators, Proceedings IEEE-IROS Conference, Pittsburg, USA, pp. 399-406.
4. Wisse, M. [2004]. Essentials of Dynamic Walking : Analysis and Design of Two-Legged Robots, PhD thesis, Technische Universiteit Delft.
5. Yamgushi, J., Nishino, D. and Takanishi, A. [1998]. Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints, Proceedings of the IEEE International Conference on Robotics and Automatisation, Leuven, Belgium, pp. 2022(2029.
6. Hurst, W., Chestnutt, J., E. and Rizzi, A., A. [2004]. An actuator with physically variable stiffness for highly dynamic legged locomotion, In Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, USA, pp. 4662-4667.
7. Daerden F. & Lefeber D., The concept and design of pleated pneumatic artificial muscles, International Journal of Fluid Power, 2(3):41-50, 2001.
8. Vanderborght B., Verrelst B., Van Ham R., Vermeulen J. & Lefeber D., Dynamic Control of a Bipedal Walking Robot Actuated with Pneumatic Artificial Muscles, ICRA 2005: International Conference on Robotics and Automation, Barcelona, Spain, April 18-22 2005, p 1-6
9. Giovanni Tonietti, Riccardo Schiavi and Antonio Bicchi [2005]. Design and Control of a Variable Stiffness Actuator, Proceedings of the 2005 IEEE ICRA International Conference on Robotics and Automation, Barcelona, Spain, April 2005
10. Shane A. Migliore, Edgar A. Brown, and Stephen P. DeWeerth [2005]. Biologically Inspired Joint Stiffness Control, Proceedings of the 2005 IEEE ICRA International Conference on Robotics and Automation, Barcelona, Spain, April 2005
11. http://www.smpp.northwestern.edu/~smpp_pub/SulzerEtA12005ICO RR.pdf
12. Van Damme M., Daerden F. & Lefeber D., A Pneumatic Manipulator used in Direct Contact with an Operator, ICRA 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005, p. 4505-4510.
13. http://www.protech.be/
14. http://www.microchip.com/