Design, construction, and experiments with a compass gait walking robot
Name
765929086-MIT.pdf
Description
Full printable version
Size
12.6 MB
Format
Adobe PDF
Checksum (MD5)
1840d6c844a74826d33813d35b8df2d3
Author(s)
Jackowski, Zachary John
Advisor(s)
Russell L Tedrake.
Date Issued
2011
Publisher
Massachusetts Institute of Technology
Abstract
In recent years a number of new computational techniques for the control of nonlinear and underactuated systems have been developed and tested largely in theory and simulation. In order to better understand how these new tools are applied to real systems and to expose areas where the theory is lacking testing on a physical model system is necessary. In this thesis a human scale, free walking, planar bipedal walking robot is designed and several of these new control techniques are tested. These include system identification via simulation error optimization, simulation based LQR-Trees, and transverse stabilization of trajectories. Emphasis is put on the topics of designing highly dynamic robots, practical considerations in implementation of these advanced control strategies, and exploring where these techniques need additional development.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 91-93).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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reproduction or distribution in any format is prohibited without written
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