Force-sensing foot design and control for reflexive balance control of biped robots
Name
1221003377-MIT.pdf
Size
4.16 MB
Format
Adobe PDF
Checksum (MD5)
d39cf9eb5d25c14a3035d016c2f3fce5
Author(s)
Whalen, Mallory(Mallory M.)
Advisor(s)
H. Harry Asada.
Date Issued
2019
Publisher
Massachusetts Institute of Technology
Abstract
In this work a force-sensing foot was designed and verified through balancing an inverted pendulum on an inclined plane. Its design, development, and verification are motivated by the stability needs of external robotic legs attached to workers that can help carry heavy personal protective equipment. The foot uses four load cells to sense changes in the normal force applied to the foot, thus being able to sense the angle of the ground. Verification testing shows that the system can be balanced, without an Inertial Measurement Unit, using only the load cells. In addition, a lightweight system of external robotics legs for use in human testing of quadrupedal gaits is designed.
Description
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, June, 2019
Cataloged from PDF of thesis. "The Table of Contents does not accurately represent the page numbering"--Disclaimer page.
Includes bibliographical references (page 29).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.
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