Mechanical design of a simple bipedal robot
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2006
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| Online Access: | http://hdl.handle.net/1721.1/32858 |
| _version_ | 1811093908551106560 |
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| author | Fong, Ming-fai |
| author2 | H. Sebastian Seung. |
| author_facet | H. Sebastian Seung. Fong, Ming-fai |
| author_sort | Fong, Ming-fai |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005. |
| first_indexed | 2024-09-23T15:52:37Z |
| format | Thesis |
| id | mit-1721.1/32858 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T15:52:37Z |
| publishDate | 2006 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/328582019-04-12T09:22:04Z Mechanical design of a simple bipedal robot Fong, Ming-fai H. Sebastian Seung. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005. Includes bibliographical references (leaf 55). The thesis objective was to design a walking robot appropriate for testing a machine earning control system. As a robot that would learn how to walk, it was pre-maturely named Toddler. The passive dynamic walker, a class of simple robots driven by gravity and inertia, was selected as the model for the Toddler robot. Two preliminary passive walkers were explored: a three-dimensional, toy-like biped with one degree of freedom at the hip; and a two-dimensional, four-legged kneed walker with degrees of freedom at the hip and knees. Bench level and computer modeled analyses were conducted during the design and construction of these robots. The simpler, toy-like walker was selected as the unactuated model for actuated Toddler. Two degrees of freedom, controlling step size and frequency, were introduced at the ankle. Toddler was able to walk with a dynamically-stable gait either passively down a ramp, or actively on a flat or slightly uphill surface. With its simple design and robust performance, Toddler provides an excellent platform for testing machine learning control in walking robotics. by Ming-fai Fong. S.B. 2006-05-15T20:35:06Z 2006-05-15T20:35:06Z 2005 2005 Thesis http://hdl.handle.net/1721.1/32858 62587004 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 55 leaves 2396396 bytes 2397740 bytes application/pdf application/pdf application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Fong, Ming-fai Mechanical design of a simple bipedal robot |
| title | Mechanical design of a simple bipedal robot |
| title_full | Mechanical design of a simple bipedal robot |
| title_fullStr | Mechanical design of a simple bipedal robot |
| title_full_unstemmed | Mechanical design of a simple bipedal robot |
| title_short | Mechanical design of a simple bipedal robot |
| title_sort | mechanical design of a simple bipedal robot |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/32858 |
| work_keys_str_mv | AT fongmingfai mechanicaldesignofasimplebipedalrobot |