Design and experimental analysis of legged locomotive robots
Name
558483548-MIT.pdf
Description
Full printable version
Size
7.06 MB
Format
Adobe PDF
Checksum (MD5)
825a305f6f4ed114b1a4084d40c05af0
Author(s)
Villabona, Timothy J
Advisor(s)
Russell L. Tedrake.
Date Issued
2009
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis, I present the design and motion-capture analysis of two previously well-studied dynamic-walking machines, the rimless wheel and the compass gait robot. These robots were the basis for my undergraduate research at the Computer Science/Artificial Intelligence Laboratory (CSAIL) at the Massachusetts Institute of Technology. The rimless wheel is a real-world physical realization built to compare to a long-analyzed model, the simplest example of passive dynamic walking. Despite the seemingly deterministic model, undeniable experimental evidence for unpredictable stochasitic behavior is observed. The compass gait is the second iteration of a previous design by Dr. Fumiya Iida in my laboratory. Both machines are among the most fundamental walking models, and are important for developing energy-efficient dynamic walkers.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 20-21).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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