Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Berlin
Springer
2010
|
| Schriftenreihe: | Springer tracts in advanced robotics
63 |
| Schlagworte: | |
| Online-Zugang: | Inhaltstext Inhaltsverzeichnis |
| Beschreibung: | XVI, 281 S. Ill., graph. Darst. 235 mm x 155 mm |
| ISBN: | 9783642134166 |
Internformat
MARC
| LEADER | 00000nam a2200000 cb4500 | ||
|---|---|---|---|
| 001 | BV036524618 | ||
| 003 | DE-604 | ||
| 005 | 20101014 | ||
| 007 | t | ||
| 008 | 100625s2010 ad|| |||| 00||| eng d | ||
| 015 | |a 10,N21 |2 dnb | ||
| 016 | 7 | |a 100258678X |2 DE-101 | |
| 020 | |a 9783642134166 |c GB. : ca. EUR 128.35 (freier Pr.), ca. sfr 186.50 (freier Pr.) |9 978-3-642-13416-6 | ||
| 024 | 3 | |a 9783642134166 | |
| 028 | 5 | 2 | |a 12827732 |
| 035 | |a (OCoLC)699889152 | ||
| 035 | |a (DE-599)DNB100258678X | ||
| 040 | |a DE-604 |b ger |e rakddb | ||
| 041 | 0 | |a eng | |
| 049 | |a DE-91 | ||
| 082 | 0 | |a 629.8932 |2 22/ger | |
| 084 | |a 620 |2 sdnb | ||
| 084 | |a DAT 815f |2 stub | ||
| 084 | |a FER 988f |2 stub | ||
| 100 | 1 | |a Vanderborght, Bram |e Verfasser |0 (DE-588)142523097 |4 aut | |
| 245 | 1 | 0 | |a Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness |c Bram Vanderborght |
| 264 | 1 | |a Berlin |b Springer |c 2010 | |
| 300 | |a XVI, 281 S. |b Ill., graph. Darst. |c 235 mm x 155 mm | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Springer tracts in advanced robotics |v 63 | |
| 650 | 0 | 7 | |a Schreitroboter |0 (DE-588)4281192-2 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Dynamische Modellierung |0 (DE-588)4139122-6 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Humanoider Roboter |0 (DE-588)7576811-2 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Bewegungsanalyse |g Technik |0 (DE-588)4302721-0 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Energieeffizienz |0 (DE-588)7660153-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Bipedie |0 (DE-588)4235947-8 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Bahnplanung |0 (DE-588)4267628-9 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Gehen |0 (DE-588)4140871-8 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Pneumatischer Muskel |0 (DE-588)4697814-8 |2 gnd |9 rswk-swf |
| 689 | 0 | 0 | |a Humanoider Roboter |0 (DE-588)7576811-2 |D s |
| 689 | 0 | 1 | |a Schreitroboter |0 (DE-588)4281192-2 |D s |
| 689 | 0 | 2 | |a Bipedie |0 (DE-588)4235947-8 |D s |
| 689 | 0 | 3 | |a Pneumatischer Muskel |0 (DE-588)4697814-8 |D s |
| 689 | 0 | 4 | |a Bewegungsanalyse |g Technik |0 (DE-588)4302721-0 |D s |
| 689 | 0 | 5 | |a Bahnplanung |0 (DE-588)4267628-9 |D s |
| 689 | 0 | 6 | |a Energieeffizienz |0 (DE-588)7660153-5 |D s |
| 689 | 0 | 7 | |a Dynamische Modellierung |0 (DE-588)4139122-6 |D s |
| 689 | 0 | |5 DE-604 | |
| 689 | 1 | 0 | |a Humanoider Roboter |0 (DE-588)7576811-2 |D s |
| 689 | 1 | 1 | |a Bipedie |0 (DE-588)4235947-8 |D s |
| 689 | 1 | 2 | |a Gehen |0 (DE-588)4140871-8 |D s |
| 689 | 1 | |8 1\p |5 DE-604 | |
| 830 | 0 | |a Springer tracts in advanced robotics |v 63 |w (DE-604)BV016421724 |9 63 | |
| 856 | 4 | 2 | |q text/html |u http://deposit.dnb.de/cgi-bin/dokserv?id=3478439&prov=M&dok_var=1&dok_ext=htm |3 Inhaltstext |
| 856 | 4 | 2 | |m DNB Datenaustausch |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020446555&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 883 | 1 | |8 1\p |a cgwrk |d 20201028 |q DE-101 |u https://d-nb.info/provenance/plan#cgwrk | |
| 943 | 1 | |a oai:aleph.bib-bvb.de:BVB01-020446555 | |
Datensatz im Suchindex
| _version_ | 1805094262851764224 |
|---|---|
| adam_text |
CONTENTS INTRODUCTION 1 1.1 MOTIVATION 1 1.2 ROBOTICS 3 1.2.1 HUMANOID
ROBOTS 5 1.2.2 OVERVIEW OF HUMANOID ROBOTS 7 1.3 FOCUS ON LEGS 19 1.4
COMPLIANT ACTUATION 22 1.4.1 BIOLOGICAL ASPECTS OF WALKING AND RUNNING
22 1.4.2 PASSIVE COMPLIANT ACTUATORS 29 1.4.3 USE OF COMPLIANT ACTUATORS
IN ROBOTICS 31 1.5 GOAL OF THE LUCY PROJECT 38 1.6 APPROACH 38 1.7
OUTLINE 39 DESCRIPTION OF LUCY 41 2.1 INTRODUCTION 41 2.2 PLEATED
PNEUMATIC ARTIFICIAL MUSCLE (PPAM) 42 2.3 CONCEPT 44 2.4 FORCE
CHARACTERISTIC 45 2.5 VOLUME CHARACTERISTIC 47 2.5.1 ANTAGONISTIC MUSCLE
SETUP 48 2.5.2 COMPLIANCE CHARACTERISTICS OF AN ANTAGONISTIC MUSCLE
SETUP 50 2.6 MODULAR UNIT 52 2.6.1 COMPLETE ROBOT 61 2.7 ELECTRONICS 63
2.7.1 COMPLETE ELECTRONIC HARDWARE 71 2.7.2 SAFETY BOARD 75 2.7.3
CONTROL OF TREADMILL 7C BIBLIOGRAFISCHE INFORMATIONEN
HTTP://D-NB.INFO/100258678X DIGITALISIERT DURCH XIV CONTENTS 2.8
INTERFACE PROGRAM 77 2.9 VIRTUAL "LUCY" 79 2.9.1 MECHANICS 80 2.9.2
THERMODYNAMICS 85 2.9.3 COMPLETE SIMULATION MODEL 86 2.9.4 USE OF
MIDDLEWARE 88 2.10 CONCLUSION 90 3 TRAJECTORY GENERATOR 93 3.1 DYNAMIC
BALANCE 94 3.2 TRAJECTORY GENERATOR 98 3.2.1 NATURAL DYNAMICS-BASED
CONTROL 99 3.2.2 SOFT COMPUTING 100 3.2.3 MODEL-BASED TRAJECTORY
GENERATION 101 3.3 REQUIREMENTS 102 3.4 TRAJECTORY GENERATION BASED ON
INVERTED PENDULUM MODE 103 3.4.1 OBJECTIVE LOCOMOTION PARAMETERS BASED
INVERTED PENDULUM MODE (OLPIPM) TRAJECTORY GENERATOR . 105 3.4.2
CALCULATION OF THE JOINT TRAJECTORIES 113 3.4.3 INFLUENCE OF THE
COMPLETE MULTIBODY MODEL 116 3.5 IMPLEMENTATION OF A PREVIEW CONTROLLER
OF THE ZERO MOMENT POINT TO GENERATE TRAJECTORIES 117 3.5.1 INTRODUCTION
TO PREVIEW CONTROLLER 118 3.5.2 CART-TABLE MODEL 119 3.5.3 TRAJECTORY
GENERATION AS SERVO TRACKING CONTROL OF ZMP 119 3.5.4 TRAJECTORY
GENERATION USING PREVIEW CONTROL 121 3.5.5 METHODOLOGY AND INFLUENCE OF
PARAMETERS 123 3.5.6 COMPLETE MULTIBODY MODEL 127 3.6 COMPARISON BETWEEN
OLPIPM EN PREVIEW CONTROL METHOD 132 3.7 DYNAMICALLY STEPPING OVER LARGE
OBSTACLES BY THE HUMANOID ROBOT HRP-2 133 3.7.1 INTRODUCTION TO STEPPING
OVER 133 3.7.2 FEASIBILITY UNIT 134 3.7.3 SPLINE FOOT TRAJECTORIES 135
3.7. CONTENTS XV 4 TRAJECTORY TRACKING 143 4.1 JOINT TRAJECTORY TRACKING
CONTROLLER 144 4.1.1 INVERSE DYNAMICS CONTROL DURING SINGLE SUPPORT .
145 4.1.2 INVERSE DYNAMICS CONTROL DURING DOUBLE SUPPORT . 146 4.1.3
DELTA-P UNIT 151 4.1.4 BANG-BANG PRESSURE CONTROLLER 152 4.2 WALKING
EXPERIMENTS 154 4.2.1 GLOBAL RESULTS 154 4.2.2 LOCAL RESULTS 161 4.2.3
ADDING SUPPLEMENTARY MASS 167 4.3 IMPROVEMENTS FOR LUCY 171 4.3.1 USE OF
A TOE-JOINT 171 4.3.2 PARAMETER IDENTIFICATION 171 4.3.3 STABILIZER 172
4.3.4 REFLEXES AND EMERGENCY STOP ALGORITHM 172 4.4 CONCLUSION 174 5
COMPLIANCE 177 5.1 COMPLIANT ACTUATION FOR EXPLOITATION OF NATURAL
DYNAMICS 178 5.1.1 PENDULUM POWERED BY PPAMS 179 5.1.2 EXPERIMENTAL
RESULTS: AIRMASS CONSUMPTION 181 5.1.3 EXPERIMENTAL RESULTS: VALVE
ACTION 182 5.1.4 HOW TO CHOOSE THE OPTIMAL COMPLIANCE? 182 5.1.5
NON-NATURAL TRAJECTORIES 185 5.1.6 PRESENTATION OF THE DIFFERENT
COMPLIANT ACTUATORS . 193 5.1.7 EQUATIONS OF FORCE AND COMPLIANCE 197
5.1.8 SIMULATION EXPERIMENTS 203 5.1.9 CONCLUSION 207 5.2 COMPLIANT
ACTUATION FOR JUMPING 209 5.2.1 EQUATIONS 209 5.2.2 JUMPING EXPERIMENTS
210 5.2.3 FUTURE WORK 211 6 GENERAL CONCLUSIONS AND FUTURE WORK 215 6.1
GENERAL CONCLUSIONS 215 6. XVI CONTENTS C DETAILS OF THE ELECTRONICS 233
CL JOINT MICRO-CONTROLLER BOARD 233 C.2 SPEED-UP CIRCUITRY 236 C.3
PRESSURE SENSOR 238 C.4 FOOT MEASUREMENT BOARD 240 C.5 TREADMILL CONTROL
BOARD 241 C.6 SAFETY BOARD 243 C.7 CYPRESS COMMUNICATION INTERFACE 245
C.7.1 WHY USB 2.0? 245 C.7.2 EZ-USB FX2 246 C.7.3 USB TRANSFER TYPES 248
C.7.4 EZ-USB FX2 ARCHITECTURE 248 C.7.5 FX2 ENDPOINT BUFFERS 249 C.7.6
FIRMWARE 249 C.7.7 DRIVER 249 D PUBLICATION LIST RELATED TO LUCY 251
REFERENCES 253 INDEX 279 |
| any_adam_object | 1 |
| author | Vanderborght, Bram |
| author_GND | (DE-588)142523097 |
| author_facet | Vanderborght, Bram |
| author_role | aut |
| author_sort | Vanderborght, Bram |
| author_variant | b v bv |
| building | Verbundindex |
| bvnumber | BV036524618 |
| classification_tum | DAT 815f FER 988f |
| ctrlnum | (OCoLC)699889152 (DE-599)DNB100258678X |
| dewey-full | 629.8932 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932 |
| dewey-search | 629.8932 |
| dewey-sort | 3629.8932 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Informatik Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
| fullrecord | <?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>00000nam a2200000 cb4500</leader><controlfield tag="001">BV036524618</controlfield><controlfield tag="003">DE-604</controlfield><controlfield tag="005">20101014</controlfield><controlfield tag="007">t</controlfield><controlfield tag="008">100625s2010 ad|| |||| 00||| eng d</controlfield><datafield tag="015" ind1=" " ind2=" "><subfield code="a">10,N21</subfield><subfield code="2">dnb</subfield></datafield><datafield tag="016" ind1="7" ind2=" "><subfield code="a">100258678X</subfield><subfield code="2">DE-101</subfield></datafield><datafield tag="020" ind1=" " ind2=" "><subfield code="a">9783642134166</subfield><subfield code="c">GB. : ca. EUR 128.35 (freier Pr.), ca. sfr 186.50 (freier Pr.)</subfield><subfield code="9">978-3-642-13416-6</subfield></datafield><datafield tag="024" ind1="3" ind2=" "><subfield code="a">9783642134166</subfield></datafield><datafield tag="028" ind1="5" ind2="2"><subfield code="a">12827732</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(OCoLC)699889152</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)DNB100258678X</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-604</subfield><subfield code="b">ger</subfield><subfield code="e">rakddb</subfield></datafield><datafield tag="041" ind1="0" ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="049" ind1=" " ind2=" "><subfield code="a">DE-91</subfield></datafield><datafield tag="082" ind1="0" ind2=" "><subfield code="a">629.8932</subfield><subfield code="2">22/ger</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">620</subfield><subfield code="2">sdnb</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">DAT 815f</subfield><subfield code="2">stub</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">FER 988f</subfield><subfield code="2">stub</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Vanderborght, Bram</subfield><subfield code="e">Verfasser</subfield><subfield code="0">(DE-588)142523097</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness</subfield><subfield code="c">Bram Vanderborght</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="a">Berlin</subfield><subfield code="b">Springer</subfield><subfield code="c">2010</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">XVI, 281 S.</subfield><subfield code="b">Ill., graph. Darst.</subfield><subfield code="c">235 mm x 155 mm</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="490" ind1="1" ind2=" "><subfield code="a">Springer tracts in advanced robotics</subfield><subfield code="v">63</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Schreitroboter</subfield><subfield code="0">(DE-588)4281192-2</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Dynamische Modellierung</subfield><subfield code="0">(DE-588)4139122-6</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Humanoider Roboter</subfield><subfield code="0">(DE-588)7576811-2</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Bewegungsanalyse</subfield><subfield code="g">Technik</subfield><subfield code="0">(DE-588)4302721-0</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Energieeffizienz</subfield><subfield code="0">(DE-588)7660153-5</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Bipedie</subfield><subfield code="0">(DE-588)4235947-8</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Bahnplanung</subfield><subfield code="0">(DE-588)4267628-9</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Gehen</subfield><subfield code="0">(DE-588)4140871-8</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Pneumatischer Muskel</subfield><subfield code="0">(DE-588)4697814-8</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="689" ind1="0" ind2="0"><subfield code="a">Humanoider Roboter</subfield><subfield code="0">(DE-588)7576811-2</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="1"><subfield code="a">Schreitroboter</subfield><subfield code="0">(DE-588)4281192-2</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="2"><subfield code="a">Bipedie</subfield><subfield code="0">(DE-588)4235947-8</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="3"><subfield code="a">Pneumatischer Muskel</subfield><subfield code="0">(DE-588)4697814-8</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="4"><subfield code="a">Bewegungsanalyse</subfield><subfield code="g">Technik</subfield><subfield code="0">(DE-588)4302721-0</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="5"><subfield code="a">Bahnplanung</subfield><subfield code="0">(DE-588)4267628-9</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="6"><subfield code="a">Energieeffizienz</subfield><subfield code="0">(DE-588)7660153-5</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="7"><subfield code="a">Dynamische Modellierung</subfield><subfield code="0">(DE-588)4139122-6</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2=" "><subfield code="5">DE-604</subfield></datafield><datafield tag="689" ind1="1" ind2="0"><subfield code="a">Humanoider Roboter</subfield><subfield code="0">(DE-588)7576811-2</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="1" ind2="1"><subfield code="a">Bipedie</subfield><subfield code="0">(DE-588)4235947-8</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="1" ind2="2"><subfield code="a">Gehen</subfield><subfield code="0">(DE-588)4140871-8</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="1" ind2=" "><subfield code="8">1\p</subfield><subfield code="5">DE-604</subfield></datafield><datafield tag="830" ind1=" " ind2="0"><subfield code="a">Springer tracts in advanced robotics</subfield><subfield code="v">63</subfield><subfield code="w">(DE-604)BV016421724</subfield><subfield code="9">63</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="q">text/html</subfield><subfield code="u">http://deposit.dnb.de/cgi-bin/dokserv?id=3478439&prov=M&dok_var=1&dok_ext=htm</subfield><subfield code="3">Inhaltstext</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="m">DNB Datenaustausch</subfield><subfield code="q">application/pdf</subfield><subfield code="u">http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020446555&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA</subfield><subfield code="3">Inhaltsverzeichnis</subfield></datafield><datafield tag="883" ind1="1" ind2=" "><subfield code="8">1\p</subfield><subfield code="a">cgwrk</subfield><subfield code="d">20201028</subfield><subfield code="q">DE-101</subfield><subfield code="u">https://d-nb.info/provenance/plan#cgwrk</subfield></datafield><datafield tag="943" ind1="1" ind2=" "><subfield code="a">oai:aleph.bib-bvb.de:BVB01-020446555</subfield></datafield></record></collection> |
| id | DE-604.BV036524618 |
| illustrated | Illustrated |
| indexdate | 2024-07-20T10:40:36Z |
| institution | BVB |
| isbn | 9783642134166 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-020446555 |
| oclc_num | 699889152 |
| open_access_boolean | |
| owner | DE-91 DE-BY-TUM |
| owner_facet | DE-91 DE-BY-TUM |
| physical | XVI, 281 S. Ill., graph. Darst. 235 mm x 155 mm |
| publishDate | 2010 |
| publishDateSearch | 2010 |
| publishDateSort | 2010 |
| publisher | Springer |
| record_format | marc |
| series | Springer tracts in advanced robotics |
| series2 | Springer tracts in advanced robotics |
| spelling | Vanderborght, Bram Verfasser (DE-588)142523097 aut Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness Bram Vanderborght Berlin Springer 2010 XVI, 281 S. Ill., graph. Darst. 235 mm x 155 mm txt rdacontent n rdamedia nc rdacarrier Springer tracts in advanced robotics 63 Schreitroboter (DE-588)4281192-2 gnd rswk-swf Dynamische Modellierung (DE-588)4139122-6 gnd rswk-swf Humanoider Roboter (DE-588)7576811-2 gnd rswk-swf Bewegungsanalyse Technik (DE-588)4302721-0 gnd rswk-swf Energieeffizienz (DE-588)7660153-5 gnd rswk-swf Bipedie (DE-588)4235947-8 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Gehen (DE-588)4140871-8 gnd rswk-swf Pneumatischer Muskel (DE-588)4697814-8 gnd rswk-swf Humanoider Roboter (DE-588)7576811-2 s Schreitroboter (DE-588)4281192-2 s Bipedie (DE-588)4235947-8 s Pneumatischer Muskel (DE-588)4697814-8 s Bewegungsanalyse Technik (DE-588)4302721-0 s Bahnplanung (DE-588)4267628-9 s Energieeffizienz (DE-588)7660153-5 s Dynamische Modellierung (DE-588)4139122-6 s DE-604 Gehen (DE-588)4140871-8 s 1\p DE-604 Springer tracts in advanced robotics 63 (DE-604)BV016421724 63 text/html http://deposit.dnb.de/cgi-bin/dokserv?id=3478439&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020446555&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Vanderborght, Bram Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness Springer tracts in advanced robotics Schreitroboter (DE-588)4281192-2 gnd Dynamische Modellierung (DE-588)4139122-6 gnd Humanoider Roboter (DE-588)7576811-2 gnd Bewegungsanalyse Technik (DE-588)4302721-0 gnd Energieeffizienz (DE-588)7660153-5 gnd Bipedie (DE-588)4235947-8 gnd Bahnplanung (DE-588)4267628-9 gnd Gehen (DE-588)4140871-8 gnd Pneumatischer Muskel (DE-588)4697814-8 gnd |
| subject_GND | (DE-588)4281192-2 (DE-588)4139122-6 (DE-588)7576811-2 (DE-588)4302721-0 (DE-588)7660153-5 (DE-588)4235947-8 (DE-588)4267628-9 (DE-588)4140871-8 (DE-588)4697814-8 |
| title | Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness |
| title_auth | Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness |
| title_exact_search | Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness |
| title_full | Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness Bram Vanderborght |
| title_fullStr | Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness Bram Vanderborght |
| title_full_unstemmed | Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness Bram Vanderborght |
| title_short | Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness |
| title_sort | dynamic stabilisation of the biped lucy powered by actuators with controllable stiffness |
| topic | Schreitroboter (DE-588)4281192-2 gnd Dynamische Modellierung (DE-588)4139122-6 gnd Humanoider Roboter (DE-588)7576811-2 gnd Bewegungsanalyse Technik (DE-588)4302721-0 gnd Energieeffizienz (DE-588)7660153-5 gnd Bipedie (DE-588)4235947-8 gnd Bahnplanung (DE-588)4267628-9 gnd Gehen (DE-588)4140871-8 gnd Pneumatischer Muskel (DE-588)4697814-8 gnd |
| topic_facet | Schreitroboter Dynamische Modellierung Humanoider Roboter Bewegungsanalyse Technik Energieeffizienz Bipedie Bahnplanung Gehen Pneumatischer Muskel |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=3478439&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020446555&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV016421724 |
| work_keys_str_mv | AT vanderborghtbram dynamicstabilisationofthebipedlucypoweredbyactuatorswithcontrollablestiffness |