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International journal papers

  • Overview of the Lucy Project: Dynamic Stabilization of a Biped Powered by Pneumatic Artificial Muscles
    VANDERBORGHT Bram, VAN HAM Ronald, VERRELST BJORN, VAN DAMME Michael, LEFEBER DIRK
    Advanced Robotics, vol.22, n. 10, pp.1027 - 1051
    abstract

  • Comparison of mechanical design and energy consumption of adaptable passive compliant actuators
    VANDERBORGHT Bram, SUGAR Thomas, VAN HAM Ronald, HOLLANDER Kevin, LEFEBER Dirk
    International Journal of Robotics Research Vol. 28, No. 1, 90-103 (2009)
    abstract

  • Development of a compliance controller to reduce energy consumption for bipedal robots
    Vanderborght B., Verrelst B., Van Ham R., Van Damme M., Beyl P., & Lefeber D.
    Autonomous Robots, Volume 24, May 2008, No. 4, pp. 419-434
    abstract

  • Objective Locomotion Parameters Based Inverted Pendulum Trajectory Generator
    Vanderborght B., Verrelst B., Van Ham R., Van Damme M. & Lefeber D.
    Robotics and Autonomous Systems, 56, Number 9 (2008), pp. 738–750
    abstract

  • Treadmill Walking of the Pneumatic Biped Lucy: Walking at Different Speeds and Step-lengths
    Vanderborght B., Verrelst B., Van Ham R., Van Damme M., Versluys R., & Lefeber D.
    International Applied Mechanics, vol.44, n. 7, pp.134 - 142
    abstract

  • Trajectory Planning for the Walking Biped 'Lucy'
    Vermeulen J., Verrelst B., Vanderborght B., & Lefeber D.
    The International Journal of Robotics Research (IJRR), Vol. 25, No. 9, 867-887 (2006)
    abstract

  • Exploiting natural dynamics to reduce energy consumption by controlling the compliance of soft actuators
    Vanderborght B., Verrelst B., Van Ham R., Van Damme M., Lefeber D., Meira Y Duran B. & Beyl P.
    The International Journal of Robotics Research (IJRR), Volume 25 Issue 4, april 2006, pp. 343-358
    abstract

  • Second Generation Pleated Pneumatic Artificial Muscle and Its Robotic Applications
    Verrelst B., Van Ham R., Vanderborght B., Lefeber D., Daerden F. & Van Damme M.
    Advanced Robotics, Volume 20 No. 7, pp. 783-805 (2006)
    abstract

  • Controlling a Bipedal Walking Robot Actuated by Pleated Pneumatic Artificial Muscles
    Vanderborght B., Verrelst B., Van Ham R. & Lefeber D.
    Robotica, Volume 24, Issue 04, July 2006, pp 401-410
    abstract

  • Motion Generation and Control for the Pneumatic Biped “Lucy”
    Verrelst B., Vermeulen J., Vanderborght B., Van Ham R., Naudet J., Lefeber D., Daerden F. & Van Damme M.
    International Journal of Humanoid Robotics (IJHR), Vol. 3, No. 1 (2006) 1-35
    abstract

  • Fast and Accurate Pressure Control Using On-Off Valves
    Van Ham R., Verrelst B., Daerden F., Vanderborght B. & Lefeber D.
    International Journal of Fluid Power 6 (2005) No. 1 pp 53-58
    abstract

  • Control Architecture for the Pneumatically Actuated Dynamic Walking Biped "Lucy" (nr. 6 of ScienceDirect TOP25 Hottest Articles - Mechatronics)
    Verrelst B., Vanderborght B., Vermeulen J., Van Ham R., Naudet J. & Lefeber D.
    Mechatronics, Volume 15, Issue 6, pp. 703-729, July 2005
    abstract

  • A real-time joint trajectory planner for dynamic walking bipeds in the sagittal plane
    Vermeulen J., Verrelst B., Lefeber D., Kool P. & Vanderborght B.
    Robotica, Volume 23, Issue 06, november 2005, pp 669-680
    abstract

  • The Pneumatic Biped "LUCY" Actuated with Pleated Pneumatic Artificial Muscles
    Verrelst B., Van Ham R., Vanderborght B., Daerden F. & Lefeber D.
    Autonomous Robots 18, pp.201-213, 2005
    abstract

  • Exploiting the Adaptable Passive Behaviour to Influence Natural Dynamics Applied to Legged Robots
    Verrelst B., Van Ham R., Vanderborght B., Vermeulen J., Lefeber D. & Daerden F.
    Robotica, Volume 23, Issue 2, pp. 149-158, (March 2005)
    abstract

  • Pneumatic artificial muscles: actuators for robotics and automation
    Daerden F. & Lefeber D.
    European Journal of Mechanical and Environmental Engineering, 47(1):10–21, 2002.

  • The concept and design of pleated pneumatic artificial muscles
    Daerden F. & Lefeber D.
    International Journal of Fluid Power, 2(3):41–50, 2001.


Conference papers

  • A strategy to combine active trajectory control with the exploitation of the natural dynamics to reduce energy consumption for bipedal robots
    Bram Vanderborght, Michaël Van Damme, Ronald Van Ham, Pieter Beyl & Dirk Lefeber
    IEEE-RAS International Conference on Humanoids Robots - Humanoids 2007, November 29-December 1, 2007 Pitssburgh, USA

  • A strategy to combine active trajectory control with the exploitation of the natural dynamics to reduce energy consumption for bipedal robots
    Bram Vanderborght
    Dynamic Walking III, 24-30 June 2007, Mariehamn, Aland

  • Overview of the Control Architecture used for the Biped Lucy
    Bram Vanderborght, Ronald Van Ham, Verrelst Bjorn, Michaël Van Damme, Ronald Van Ham & Dirk Lefeber
    26th Benelux Meeting on Systems and Control, March 13-15, 2007, Lommel, Belgium. (enkel abstract), p 125

  • Locomotion Control Architecture for the Pneumatic Biped Lucy Consisting of a Trajectory Generator and Joint Trajectory Tracking Controller
    Bram Vanderborght, Björn Verrelst, Michaël Van Damme, Ronald Van Ham, Pieter Beyl & Dirk Lefeber
    Humanoids 2006 -- IEEE–RAS International Conference on Humanoid Robots, December 4–6 2006, Genova, Italy
    PDF poster

  • Compliance Adaptation of Pleated Pneumatic Artificial Muscles for Reduced Energy Consumption by Exploiting the Natural Dynamics
    Bram Vanderborght, Pieter Beyl, Bjorn Verrelst, Ronald Van Ham, Michael Van Damme, Rino Versluys & Dirk Lefeber
    CLAWAR 2006 -- 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, September 12 - 14, 2006, Brussels, Belgium, pp. 45 - 52

  • Trajectory Generator for the Pneumatic Biped Lucy based on Inverted Pendulum Model
    Bram Vanderborght, Bjorn Verrelst, Ronald Van Ham, Michael Van Damme, Jelle Saldien, Kristof Goris & Dirk Lefeber
    CLAWAR 2006 -- 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, September 12 - 14, 2006, Brussels, Belgium, pp. 53 - 58

  • Compliant actuation in New Robotic Applications
    Pieter Beyl, Bram Vanderborght ,Ronald Van Ham ,Michaël Van Damme ,Rino Versluys & Dirk Lefeber
    Proceedings of the NCTAM06 -- 7th National Congress on Theoretical and Applied Mechanics, May 29th and 30th 2006, Mons, Belgium, DVD

  • Torque and Compliance Control of the Pneumatic Artificial Muscles in the Biped ”Lucy”
    Bram Vanderborght, Björn Verrelst, Ronald Van Ham, Michaël Van Damme, Pieter Beyl & Dirk Lefeber
    Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida - May 2006, pp 842 - 847
    abstract

  • Pleated Pneumatic Artificial Muscles for Robotic Applications (poster paper with video)
    Bram Vanderborght, Michaël Van Damme, Ronald Van Ham, Björn Verrelst, & Dirk Lefeber
    Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida - May 2006, pp 4324 - 4326
    video (41.6 MB)
    PDF paper
    PDF poster

  • A Pneumatic Biped: Experimental Walking Results and Compliance Adaptation Experiments
    Bram Vam Vanderborght, Björn Verrelst, Ronald Van Ham, Michael Van Damme & Dirk Lefeber
    IEEE-RAS International Conference on Humanoids Robots - Humanoids 2005, December 5-7, 2005 Tsukuba International Congress Center (EPOCHAL TSUKUBA), Tsukuba, Japan, p 44-49
    abstract

  • Locomotion Control Architecture for a Biped Actuated with Pneumatic Artificial Muscles
    Bram Vanderborght, Ronald Van Ham, Björn Verrelst, Michaël Van Damme & Dirk Lefeber
    Proceedings of the 15th International Symposium on Measurement and Control in Robotics, 08-10 November 2005, Brussels, Belgium.

  • Experimental Walking Results of LUCY, a Biped with Pneumatic Artificial Muscles
    Vanderborght B., Verrelst B., Van Ham R., Van Damme M. & Lefeber D.
    CLAWAR 2005: 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 12–15 September 2005 - London, U.K., p 189-196

  • Dynamic Control of a Bipedal Walking Robot Actuated with Pneumatic Artificial Muscles
    Vanderborght B., Verrelst B., Van Ham R., Vermeulen J. & Lefeber D.
    ICRA 2005: International Conference on Robotics and Automation, Barcelona, Spain, April 18-22 2005, p 1-6

  • abstract

  • Trajectory Planning for the Walking Biped "Lucy".
    Vermeulen J., Lefeber D., Verrelst B. & Vanderborght B.
    CLAWAR 2004 7th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines Madrid, Spain, September 2004.

  • Control architecture of LUCY, a Biped with Pneumatic Artificial Muscles.
    Vanderborght B., Verrelst B., Van Ham R., Vermeulen J., Naudet J. & Lefeber D.
    CLAWAR 2004 7th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines Madrid, Spain, September 2004.

  • LUCY, a Bipedal Walking Robot with Pneumatic Artificial Muscles.
    Vanderborght B., Verrelst B., Van Ham R., Naudet J., Vermeulen J., Lefeber D. & Daerden F.
    IEEE Mechatronics & Robotics 2004, Aachen, Germany, September 2004

  • Pleated Pneumatic Artificial Muscles for Robotic Applications.
    Verrelst B., Daerden F., Lefeber D., Van Damme M., Vanderborght B., Van Ham R. & Vermeulen J.
    1st Flanders Engineering PhD Symposium, Brussels, December 2003, abstract p. 55 + CDROM (Mech11).

  • Pressure control with on-off valves of Pleated Pneumatic Artificial Muscles in a modular one-dimensional rotational joint.
    Van Ham, R., Verrelst, B., Daerden, F. & Lefeber, D.
    International Conference on Humanoid Robots, Karlsruhe and Munich, October 2003, abstract p. 35 + CDROM.

  • Concept of combining adaptable passive behaviour with an active control structure using Pleated Pneumatic Artificial Muscles for the bipedal robot LUCY
    Verrelst, B., Van Ham, R., Vermeulen, J., Lefeber, D. & Daerden, F.
    International Conference on Humanoid Robots, Karlsruhe and Munich, October 2003, abstract p. 12 + CDROM.

  • Experimental results on the first movements of the pneumatic biped "Lucy"
    Van Ham, R., Verrelst, B., Vanderborght, B., Daerden, F.& Lefeber, D.
    6th International conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Catania, September 2003, pp. 485-492.

  • Control of a joint actuated by two pneumatic artificial muscles with fast switching on-off valves
    Van Ham, R., Daerden, F., Verrelst, B.& Lefeber, D.
    6 th National congress on theoretical and applied mechanics, Ghent, May 2003, paper no. 075 (CD-ROM).

  • Lucy: a walking robot
    Verrelst, B.& , Van Ham, R., Vanderborght, B., Lefeber, D. & Daerden, F.
    6th National congress on theoretical and applied mechanics, Ghent, May 2003, paper no. 073 (CD-ROM).

  • Design of a biped actuated by pleated pneumatic artificial muscles
    Verrelst, B., Van Ham, R., Daerden, F.& Lefeber, D.
    5th International conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Paris, September 2002, pp. 195–202

  • Control of pneumatic artificial muscles with enhanced speed up circuitry
    Van Ham, R., Daerden, F., Verrelst, B., Lefeber, D. & Vandenhoudt, J.
    Proceedings of the 5th International conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Paris, September 2002, pp. 195–202.

  • Pleated pneumatic artificial muscles: actuators for automation and robotics
    Daerden, F., Lefeber, D., Verrelst, B., & Van Ham, R.
    2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Como, July 2001, pp. 738–743.

  • Pleated pneumatic artificial muscles: compliant robotic actuators
    Daerden, F., Lefeber, D., Verrelst, B., & Van Ham, R.
    2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, Hawaii, October–November 2001, pp. 1958–1963.

  • Introducing Pleated Pneumatic Artificial Muscles for the actuation of legged robots : a one-dimensional setup
    Verrelst, B., Daerden, F., Lefeber, D., Van Ham, R., Fabri, T.
    CLAWAR 2000: 3rd International Conference, Madrid, October 2000, pp. 583–590.

  • Controlling motion and compliance with folded pneumatic artificial muscles
    Daerden, F., Verrelst, B., Lefeber, D. & Kool, P.
    Clawar ‘99: International Workshop and Conference, Portsmouth, September 1999, pp. 667–677.

  • Using Free Radial Expansion Pneumatic Artificial Muscles to Control a 1DOF Robot Arm
    Daerden, F., Lefeber, D. & Kool, P.
    CLAWAR ’98: First International Symposium on Climbing and Walking Robots, Brussels, November 1998, pp. 209–214

  • Free Radial Expansion Pneumatic Artificial Muscles
    Daerden, F., Lefeber, D., Kool, P. & Faignet, E.
    6th International Symposium on Measurement and Control in Robotics, Brussel, May 1996, pp. 44–49.

Other journal papers

  • Pneumatische artificiële spieren: aandrijvingen voor robotica en automation: deel 3
    Daerden, F. & Lefeber, D.
    Hydropneuma Automation, 149:9–15, 2002.

  • Pneumatische artificiële spieren: aandrijvingen voor robotica en automation: deel 2
    Daerden, F. & Lefeber, D.
    Hydropneuma Automation, 148:13–19, 2002.

  • Pneumatische artificiële spieren: aandrijvingen voor robotica en automation: deel 1
    Daerden, F. & Lefeber, D.
    Hydropneuma Automation, 147:13–19, 2002.

  • Pneumatische Artificiële Spieren: Actuatoren met een biologisch trekje
    Daerden, F., Lefeber, D., Verrelst, B. & Van Ham, R.
    Het Ingenieursblad, 2001(4):36–43.

Master's theses

  • Model-based control of a one-dimensional pendulum actuated with Pleated Pneumatic Artificial Muscles with adaptable stiffness
    Bruno Meira y Duran
    VUB
    promotor: D. Lefeber
    2005-05
    full text PDF – 4,2 MB

  • Quasi-statische controle van een stappende robot aangedreven door actuatoren met regelbare stijfheid
    (Quasi-static control of a walking robot powered by actuators with adaptable stiffness)

    Bram Vanderborght
    VUB
    promotor: D. Lefeber
    2002-05
    full text PDF – 3 MB


Other


Other publications of the Multibody Mechanics Research Group

Publications Concerning Realtime Trajectory Generation for Walking, Hopping and Running Robots

Publications concerning Realtime Dynamic Simulation



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