Design and experimental analysis of legged locomotive robots
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2010
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| Online Access: | http://hdl.handle.net/1721.1/54484 |
| _version_ | 1826197605506351104 |
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| author | Villabona, Timothy J |
| author2 | Russell L. Tedrake. |
| author_facet | Russell L. Tedrake. Villabona, Timothy J |
| author_sort | Villabona, Timothy J |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009. |
| first_indexed | 2024-09-23T10:50:33Z |
| format | Thesis |
| id | mit-1721.1/54484 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T10:50:33Z |
| publishDate | 2010 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/544842019-04-12T23:37:25Z Design and experimental analysis of legged locomotive robots Villabona, Timothy J Russell L. Tedrake. 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, 2009. Cataloged from PDF version of thesis. Includes bibliographical references (p. 20-21). In this thesis, I present the design and motion-capture analysis of two previously well-studied dynamic-walking machines, the rimless wheel and the compass gait robot. These robots were the basis for my undergraduate research at the Computer Science/Artificial Intelligence Laboratory (CSAIL) at the Massachusetts Institute of Technology. The rimless wheel is a real-world physical realization built to compare to a long-analyzed model, the simplest example of passive dynamic walking. Despite the seemingly deterministic model, undeniable experimental evidence for unpredictable stochasitic behavior is observed. The compass gait is the second iteration of a previous design by Dr. Fumiya Iida in my laboratory. Both machines are among the most fundamental walking models, and are important for developing energy-efficient dynamic walkers. by Timothy J. Villabona. S.B. 2010-04-28T15:40:48Z 2010-04-28T15:40:48Z 2009 2009 Thesis http://hdl.handle.net/1721.1/54484 558483548 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 21 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Villabona, Timothy J Design and experimental analysis of legged locomotive robots |
| title | Design and experimental analysis of legged locomotive robots |
| title_full | Design and experimental analysis of legged locomotive robots |
| title_fullStr | Design and experimental analysis of legged locomotive robots |
| title_full_unstemmed | Design and experimental analysis of legged locomotive robots |
| title_short | Design and experimental analysis of legged locomotive robots |
| title_sort | design and experimental analysis of legged locomotive robots |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/54484 |
| work_keys_str_mv | AT villabonatimothyj designandexperimentalanalysisofleggedlocomotiverobots |