2026-09-19T06:52:00Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1055802022-01-13T07:54:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Sangbae Kim.
Katz, Benjamin G
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2016-12-05T19:11:26Z
2016-12-05T19:11:26Z
2016
2016
http://hdl.handle.net/1721.1/105580
964525489
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
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 (page 47).
The recent growth of the remote control airplane and drone market has created great availability of extremely cheap, yet very power and torque dense electric motors. However, these motors have for the most part been neglected by the robotics community. This thesis documents the development of a hardware, firmware, and controls platform for using these motors in robotics applications - specifically for running robots. A sampling of these motors were characterized, and appropriate position sensing, power electronics and field-oriented motor control systems for torque, position, and impedance control of the motors was developed. Additionally, a module which combines motor, electronics, and single-stage planetary gearset was designed and fabricated. For demonstration, a pair of these motor-controller- gearbox modules were incorporated in a 2-degree- of-freedom leg capable of jumping and controlling its joint impedances.
by Benjamin G. Katz.
S.B.
47 pages
eng
Massachusetts Institute of Technology
M.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.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Low cost, high performance actuators for dynamic robots
Thesis
application/pdf
Publication
unknown
unknown
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<Abstract>The recent growth of the remote control airplane and drone market has created great availability of extremely cheap, yet very power and torque dense electric motors. However, these motors have for the most part been neglected by the robotics community. This thesis documents the development of a hardware, firmware, and controls platform for using these motors in robotics applications - specifically for running robots. A sampling of these motors were characterized, and appropriate position sensing, power electronics and field-oriented motor control systems for torque, position, and impedance control of the motors was developed. Additionally, a module which combines motor, electronics, and single-stage planetary gearset was designed and fabricated. For demonstration, a pair of these motor-controller- gearbox modules were incorporated in a 2-degree- of-freedom leg capable of jumping and controlling its joint impedances.</Abstract>
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