2026-09-19T20:27:40Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1186712022-01-13T07:54:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Sangbae Kim.
Katz, Benjamin G
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2018-10-22T18:27:40Z
2018-10-22T18:27:40Z
2018
2018
http://hdl.handle.net/1721.1/118671
1057343368
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).
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.
by Benjamin G. Katz.
S.M.
104 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.
A low cost modular actuator for dynamic robots
Thesis
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