A low cost modular actuator for dynamic robots
Name
1057343368-MIT.pdf
Description
Full printable version
Size
28.84 MB
Format
Adobe PDF
Checksum (MD5)
46b87d00bb5d7d665c0e2b676055d995
Author(s)
Katz, Benjamin G
Advisor(s)
Sangbae Kim.
Date Issued
2018
Publisher
Massachusetts Institute of Technology
Abstract
This thesis details the hardware and control development for a low-cost modular actuator, intended for use in highly dynamic robots. A small 12 degree of freedom quadruped robot has built using these actuators, on which several control experiments have been performed. Despite the relatively low cost of the actuators, the quadruped has demonstrated unprecedented dynamic behaviors for a robot of this scale and number of degrees of freedom, such as a full 360° backflip from standing on flat ground. Several other implementations of these actuators are also discussed, a including bilateral teleoperation and haptic feedback system and a 6 degree of freedom lower-body biped robot.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 89-91).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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