2026-09-20T08:03:01Zhttps://dspace.mit.edu/server/oai/request

oai:dspace.mit.edu:1721.1/1067882026-06-16T18:53:32Zcom_1721.1_7582com_1721.1_7581col_1721.1_131022

Neville Hogan. Bosworth, William R., Ph. D. Massachusetts Institute of Technology Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering 2017-01-30T19:18:17Z 2017-01-30T19:18:17Z 2016 2016 http://hdl.handle.net/1721.1/106788 970394106 Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016. Cataloged from PDF version of thesis. Includes bibliographical references (pages 161-175). 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 variability of real terrain. To this end, we introduce the MIT Super Mini Cheetah, a small, inexpensive quadrupedal robot that can run and walk over a variety of ground types (gravel, tile, carpet, grass, etc.). Experiments with the Super Mini Cheetah demonstrate new terrain-adaptation capabilities for locomotion control over surfaces with varying mechanical impedance. The terrain adaptation methods are shown empirically to increase gait stability and to reduce impact loading on the legs. To the best of our knowledge, the work demonstrates the first example of a running controller that measures changes in stiffness of the ground and modifies its controller within a single stride. This enables the Super Mini Cheetah to run smoothly between hard and soft surfaces. Algorithms to quickly measure ground properties are presented. These measurements are made by observing interaction between robot legs and the ground. We show that the impact event between the foot and the ground is particularly information-rich which enables the Super Mini Cheetah to estimate ground stiffness within 50 milliseconds of beginning a step. These results contribute new knowledge about the hardware and control requirements to provide legged robots with a useful sense of touch, which will greatly enhance the types of terrain that legged robots can safely and gracefully roam. by Will Bosworth. Ph.D. 175 pages eng Massachusetts Institute of Technology MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission. http://dspace.mit.edu/handle/1721.1/7582 Mechanical Engineering. Perception and control of robot legged locomotion over variable terrain Thesis application/pdf false Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="2785a6eb-b723-4cba-8ec8-f592b2faf913"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>Perception and control of robot legged locomotion over variable terrain</Title> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2016</PublicationDate> <Authors> <Author> <DisplayName>Bosworth, William R., Ph. D. Massachusetts Institute of Technology</DisplayName> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>Massachusetts Institute of Technology</DisplayName> <OrgUnit /> </Publisher> </Publishers> <License>http://dspace.mit.edu/handle/1721.1/7582</License> <Keyword>Mechanical Engineering.</Keyword> <Abstract>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 variability of real terrain. To this end, we introduce the MIT Super Mini Cheetah, a small, inexpensive quadrupedal robot that can run and walk over a variety of ground types (gravel, tile, carpet, grass, etc.). Experiments with the Super Mini Cheetah demonstrate new terrain-adaptation capabilities for locomotion control over surfaces with varying mechanical impedance. The terrain adaptation methods are shown empirically to increase gait stability and to reduce impact loading on the legs. To the best of our knowledge, the work demonstrates the first example of a running controller that measures changes in stiffness of the ground and modifies its controller within a single stride. This enables the Super Mini Cheetah to run smoothly between hard and soft surfaces. Algorithms to quickly measure ground properties are presented. These measurements are made by observing interaction between robot legs and the ground. We show that the impact event between the foot and the ground is particularly information-rich which enables the Super Mini Cheetah to estimate ground stiffness within 50 milliseconds of beginning a step. These results contribute new knowledge about the hardware and control requirements to provide legged robots with a useful sense of touch, which will greatly enhance the types of terrain that legged robots can safely and gracefully roam.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>