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Russell L. Tedrake. Countouris, Paula Marie Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering 2012-10-26T18:08:34Z 2012-10-26T18:08:34Z 2012 2012 http://hdl.handle.net/1721.1/74432 813122100 Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012. Cataloged from PDF version of thesis. Includes bibliographical references (p. 37). The complex underactuated legs used in the FastRunner robot, designed by the Florida Institute for Human and Machine Cognition, are designed with multiple linkages and nonlinear springs to exploit the natural dynamics of the system in order to achieve extraordinary agility and efficiency. One way to control such a complex, underactuated system is to use a model-based control design approach based on robust nonlinear control. To develop a platform to test this physics based control design on the FastRunner leg, a free swinging underactuated robot leg was designed and constructed for benchtop controls experiments. A stand with motor to actuate the leg and a basic control system for the bench-top setup were also designed and implemented. To verify the performance of the leg, actuation, and the control setup, an open-loop step response, sinusoidal response, and chirp response were executed on the prototype leg setup. Future work includes redesign of the system electronics, construction of a system of equations that describes the leg, and completion of system identification. by Paula Marie Countouris. S.B. 37 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 testing of a prototype robotic leg for controls experiments Thesis application/pdf false Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="38c9c625-8fd8-4151-95f6-a905a4eecb14"> <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>Design, construction, and testing of a prototype robotic leg for controls experiments</Title> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2012</PublicationDate> <Authors> <Author> <DisplayName>Countouris, Paula Marie</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>Mechanical Engineering.</Keyword> <Abstract>The complex underactuated legs used in the FastRunner robot, designed by the Florida Institute for Human and Machine Cognition, are designed with multiple linkages and nonlinear springs to exploit the natural dynamics of the system in order to achieve extraordinary agility and efficiency. One way to control such a complex, underactuated system is to use a model-based control design approach based on robust nonlinear control. To develop a platform to test this physics based control design on the FastRunner leg, a free swinging underactuated robot leg was designed and constructed for benchtop controls experiments. A stand with motor to actuate the leg and a basic control system for the bench-top setup were also designed and implemented. To verify the performance of the leg, actuation, and the control setup, an open-loop step response, sinusoidal response, and chirp response were executed on the prototype leg setup. Future work includes redesign of the system electronics, construction of a system of equations that describes the leg, and completion of system identification.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>