2026-09-19T21:10:44Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1298772026-06-06T00:56:06Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Sangbae Kim.
Di Carlo, Jared(Jared J.)
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2021-02-19T20:34:22Z
2021-02-19T20:34:22Z
2020
2020
https://hdl.handle.net/1721.1/129877
1237398778
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, February, 2020
Cataloged from student-submitted PDF of thesis.
Includes bibliographical references (pages 99-101).
This thesis documents the development and implementation of software and controllers for the MIT Mini Cheetah and MIT Cheetah 3 robots. The open source software I developed is designed to provide a framework for other research groups to use the Mini Cheetah platform and is currently being used by seven other groups from around the world. The controllers I developed for this thesis are provided as example code for these groups, and can be used to make the robot walk, run, and do a backflip. The locomotion controller utilizes a simplified model and convex optimization to stabilize complex gaits online, allowing it to control complex, fully 3D gaits with flight periods, such as galloping. The backflip is accomplished through offline trajectory optimization with an accurate dynamic model and was the first backflip done on a quadruped robot.
by Jared Di Carlo.
M.Eng.
M.Eng. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science
101 pages
eng
Massachusetts Institute of Technology
MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Software and control design for the MIT Cheetah quadruped robots
Thesis
application/pdf
2021-02-19T20:33:52Z
Publication
Master
EECS
unknown
unknown
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