2026-09-19T20:51:51Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/676172022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Russell L Tedrake.
Jackowski, Zachary John
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2011-12-09T21:33:10Z
2011-12-09T21:33:10Z
2011
2011
http://hdl.handle.net/1721.1/67617
765929086
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 91-93).
In recent years a number of new computational techniques for the control of nonlinear and underactuated systems have been developed and tested largely in theory and simulation. In order to better understand how these new tools are applied to real systems and to expose areas where the theory is lacking testing on a physical model system is necessary. In this thesis a human scale, free walking, planar bipedal walking robot is designed and several of these new control techniques are tested. These include system identification via simulation error optimization, simulation based LQR-Trees, and transverse stabilization of trajectories. Emphasis is put on the topics of designing highly dynamic robots, practical considerations in implementation of these advanced control strategies, and exploring where these techniques need additional development.
by Zachary J Jackowski.
S.M.
95, 3 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
Mechanical Engineering.
Design, construction, and experiments with a compass gait walking robot
Thesis
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Publication
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