2026-09-20T03:49:10Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/544842022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Russell L. Tedrake.
Villabona, Timothy J
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2010-04-28T15:40:48Z
2010-04-28T15:40:48Z
2009
2009
http://hdl.handle.net/1721.1/54484
558483548
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 20-21).
In this thesis, I present the design and motion-capture analysis of two previously well-studied dynamic-walking machines, the rimless wheel and the compass gait robot. These robots were the basis for my undergraduate research at the Computer Science/Artificial Intelligence Laboratory (CSAIL) at the Massachusetts Institute of Technology. The rimless wheel is a real-world physical realization built to compare to a long-analyzed model, the simplest example of passive dynamic walking. Despite the seemingly deterministic model, undeniable experimental evidence for unpredictable stochasitic behavior is observed. The compass gait is the second iteration of a previous design by Dr. Fumiya Iida in my laboratory. Both machines are among the most fundamental walking models, and are important for developing energy-efficient dynamic walkers.
by Timothy J. Villabona.
S.B.
21 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Design and experimental analysis of legged locomotive robots
Thesis
application/pdf
Publication
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unknown
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