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Characterization and testing of a height adjustable kinematic coupling
(Massachusetts Institute of Technology, 2008)
A new height adjustable kinematic coupling has been designed for a next generation high precision ceramics grinding machine designed to have total loop stiffness of 60 N/[mu]m. A test apparatus and prototype of the new ...
Design and parametric simulation of radially oriented electromagnetic actuators
(Massachusetts Institute of Technology, 2011)
This thesis presents the design and simulation of an electromagnetic actuator system capable of delivering large pulses of radial force onto a cylindrical surface. Due to its robust design, simple control scheme, and large ...
Perception and control of robot legged locomotion over variable terrain
(Massachusetts Institute of Technology, 2016)
This thesis investigates the role of foot-ground dynamics in robot legged locomotion. Empirical observation with robot hardware is critical for such investigation due to the complexity of impact dynamics and the infinite ...