Characterization of gait energetics for electrically actuated quadrupeds
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2016
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| Online Access: | http://hdl.handle.net/1721.1/103464 |
| _version_ | 1826193625659211776 |
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| author | Evans, Kathryn Louise, S.M. Massachusetts Institute of Technology |
| author2 | Sangbae Kim. |
| author_facet | Sangbae Kim. Evans, Kathryn Louise, S.M. Massachusetts Institute of Technology |
| author_sort | Evans, Kathryn Louise, S.M. Massachusetts Institute of Technology |
| collection | MIT |
| description | Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016. |
| first_indexed | 2024-09-23T09:42:07Z |
| format | Thesis |
| id | mit-1721.1/103464 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T09:42:07Z |
| publishDate | 2016 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1034642019-04-11T00:59:17Z Characterization of gait energetics for electrically actuated quadrupeds Evans, Kathryn Louise, S.M. Massachusetts Institute of Technology Sangbae Kim. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering. Mechanical Engineering. Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016. Cataloged from PDF version of thesis. Includes bibliographical references (pages 123-131). Despite the development of many quadrupedal robots and variety of possible running gaits, relatively little is known on the mechanisms that interplay between gait patterns and efficiency of quadrupedal machines. To gain insight on the energetics of robotic running, this work presents a study of the energetic trends across variations in gait and explores the mechanisms that are responsible for running efficiency for a quadrupedal robot. Motivated by the MIT Cheetah, the study uses a prototypical quadruped model, where DC motors are the main means of actuation, to extract principles for future control and design. This represents the first such study across gaits for robotic quadrupeds in the design paradigm of the MIT Cheetah. With the prototype model, we have found that it is energetically optimal to tend towards impulsive ground reaction forces on rigid terrain. Adding compliance at the contact interface lowers the cost of transport and increases the optimal duty ratio. In the optimal gaits, the total cost of transport is dominated by the cost of joule heating in the motors, and positive mechanical work only accounts for only 3-8% of the total cost. Analysis of trotting, pronking, bounding and galloping gaits reveals trotting to be the most energetically efficient gait across Froude numbers from 0.2 to 45. This trend represents a significant difference from animals, which transition to a gallop at a Froude number between 2 to 3. by Kathryn Louise Evans. S.M. 2016-07-01T18:42:36Z 2016-07-01T18:42:36Z 2016 2016 Thesis http://hdl.handle.net/1721.1/103464 952320015 eng 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 131 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Evans, Kathryn Louise, S.M. Massachusetts Institute of Technology Characterization of gait energetics for electrically actuated quadrupeds |
| title | Characterization of gait energetics for electrically actuated quadrupeds |
| title_full | Characterization of gait energetics for electrically actuated quadrupeds |
| title_fullStr | Characterization of gait energetics for electrically actuated quadrupeds |
| title_full_unstemmed | Characterization of gait energetics for electrically actuated quadrupeds |
| title_short | Characterization of gait energetics for electrically actuated quadrupeds |
| title_sort | characterization of gait energetics for electrically actuated quadrupeds |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/103464 |
| work_keys_str_mv | AT evanskathrynlouisesmmassachusettsinstituteoftechnology characterizationofgaitenergeticsforelectricallyactuatedquadrupeds |