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dc.contributor.advisorErnesto E. Blanco.en_US
dc.contributor.authorBaines, Andrew Griffinen_US
dc.contributor.otherMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.date.accessioned2006-05-15T20:36:49Z
dc.date.available2006-05-15T20:36:49Z
dc.date.copyright2005en_US
dc.date.issued2005en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/32883
dc.descriptionThesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.en_US
dc.descriptionIncludes bibliographical references (leaf 30).en_US
dc.description.abstractPassive-dynamic walkers are a class of robots that can walk down a ramp stably without actuators or control due to the mechanical dynamics of the robot. Using a passive-dynamic design as the basis for a powered robot helps to simplify the control problem and maximize energy efficiency compared to the traditional joint-angle control strategy. This thesis outlines the design of a knee for the robot known as Toddler, a passive-dynamic based powered walker built at the Massachusetts Institute of Technology. An actuator at the knee allows the robot to bend and straighten the leg, but a clutch mechanism allows the actuator to completely disengage so that the leg can swing freely. The clutch operates by using a motor to rotate a lead screw which engages or disengages a set of spur gears. Control of the knee is accomplished by utilizing the robot's sensors to determine whether or not the knee should be engaged. The engagement signal is then fed through a simple motor control circuit which controls the motor that turns the lead screw. The knee design was successfully implemented on Toddler but more work is required in order to optimize his walking. In order to study the dynamics of walking with knees, we also built a copy of McGeer's original passive walker with knees.en_US
dc.description.statementofresponsibilityby Andrew Griffin Baines.en_US
dc.format.extent30 leavesen_US
dc.format.extent1615966 bytes
dc.format.extent1614773 bytes
dc.format.mimetypeapplication/pdf
dc.format.mimetypeapplication/pdf
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582
dc.subjectMechanical Engineering.en_US
dc.titleKnee design for a bipedal walking robot based on a passive-dynamic walkeren_US
dc.typeThesisen_US
dc.description.degreeS.B.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.identifier.oclc62589260en_US


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