Expanding the Capabilities of Dynamic Robotic Systems
For robotics research to reach its full potential the hardware platforms we use will have to be pushed to the physical limits. Building systems that can reach these limits and that are robust and reliable requires careful engineering optimization across the entire design process. This thesis documen...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2022
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| Online Access: | https://hdl.handle.net/1721.1/143188 |
| Summary: | For robotics research to reach its full potential the hardware platforms we use will have to be pushed to the physical limits. Building systems that can reach these limits and that are robust and reliable requires careful engineering optimization across the entire design process. This thesis documents the process of designing modular systems to achieve these goals in a variety of robotic applications. In particular the integration and testing of new actuators, design of new compute and power systems and a GaN based three-phase inverter. New platforms including manipulators, humanoids and quadrupeds developed with these systems are presented and initial results with new control architectures that push the systems to the limit are shown. |
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