2026-09-20T16:57:18Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/416592022-01-13T07:54:29Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Rodney Brooks.
Kumpf, Adam (Adam A.)
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2008-05-19T16:06:16Z
2008-05-19T16:06:16Z
2007
2007
http://hdl.handle.net/1721.1/41659
219754143
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2007.
Includes bibliographical references (p. 97-99).
This thesis presents the findings of exploratory research in low-cost compliant robotics. The most heavily leveraged trade-off is that of mechanical precision for computational power, with the hope that the price of future computation will continue to fall exponentially while the expected price of precision mechanical parts will remain relatively constant. The most novel contribution of this research is the Torsionally Compliant Elastomer Joint (TCEJ) which allows for compliance and sensing in a very small package while using extremely inexpensive components. Computational modeling of hysteresis, signal compression, and backlash are also explored to compensate for the non-idealities often found in cheap mechanical parts. Three proof-of-concept systems are described along with a set of experiments used to test their capabilities. Finally, future work is proposed that will likely shape the next generation of low-cost compliant robotics.
by Adam Kumpf.
M.Eng.
99 p.
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
Electrical Engineering and Computer Science.
Explorations in low-cost compliant robotics
Thesis
application/pdf
false
Publication
unknown
unknown
<Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="6ac907d1-38ae-41c3-8469-4c4cb983cb6e">
<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>Explorations in low-cost compliant robotics</Title>
<PublishedIn>
<Publication>
</Publication>
</PublishedIn>
<PublicationDate>2007</PublicationDate>
<Authors>
<Author>
<DisplayName>Kumpf, Adam (Adam A.)</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>Electrical Engineering and Computer Science.</Keyword>
<Abstract>This thesis presents the findings of exploratory research in low-cost compliant robotics. The most heavily leveraged trade-off is that of mechanical precision for computational power, with the hope that the price of future computation will continue to fall exponentially while the expected price of precision mechanical parts will remain relatively constant. The most novel contribution of this research is the Torsionally Compliant Elastomer Joint (TCEJ) which allows for compliance and sensing in a very small package while using extremely inexpensive components. Computational modeling of hysteresis, signal compression, and backlash are also explored to compensate for the non-idealities often found in cheap mechanical parts. Three proof-of-concept systems are described along with a set of experiments used to test their capabilities. Finally, future work is proposed that will likely shape the next generation of low-cost compliant robotics.</Abstract>
<Access xmlns="http://purl.org/coar/access_right"
>
</Access>
</Publication>