Design, construction, and experiments with a compass gait walking robot
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2011
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| Online Access: | http://hdl.handle.net/1721.1/67617 |
| _version_ | 1811076598418374656 |
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| author | Jackowski, Zachary John |
| author2 | Russell L Tedrake. |
| author_facet | Russell L Tedrake. Jackowski, Zachary John |
| author_sort | Jackowski, Zachary John |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011. |
| first_indexed | 2024-09-23T10:24:41Z |
| format | Thesis |
| id | mit-1721.1/67617 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T10:24:41Z |
| publishDate | 2011 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/676172019-04-11T03:06:40Z Design, construction, and experiments with a compass gait walking robot Jackowski, Zachary John Russell L Tedrake. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011. Cataloged from PDF version of thesis. Includes bibliographical references (p. 91-93). In recent years a number of new computational techniques for the control of nonlinear and underactuated systems have been developed and tested largely in theory and simulation. In order to better understand how these new tools are applied to real systems and to expose areas where the theory is lacking testing on a physical model system is necessary. In this thesis a human scale, free walking, planar bipedal walking robot is designed and several of these new control techniques are tested. These include system identification via simulation error optimization, simulation based LQR-Trees, and transverse stabilization of trajectories. Emphasis is put on the topics of designing highly dynamic robots, practical considerations in implementation of these advanced control strategies, and exploring where these techniques need additional development. by Zachary J Jackowski. S.M. 2011-12-09T21:33:10Z 2011-12-09T21:33:10Z 2011 2011 Thesis http://hdl.handle.net/1721.1/67617 765929086 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 95, 3 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Jackowski, Zachary John Design, construction, and experiments with a compass gait walking robot |
| title | Design, construction, and experiments with a compass gait walking robot |
| title_full | Design, construction, and experiments with a compass gait walking robot |
| title_fullStr | Design, construction, and experiments with a compass gait walking robot |
| title_full_unstemmed | Design, construction, and experiments with a compass gait walking robot |
| title_short | Design, construction, and experiments with a compass gait walking robot |
| title_sort | design construction and experiments with a compass gait walking robot |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/67617 |
| work_keys_str_mv | AT jackowskizacharyjohn designconstructionandexperimentswithacompassgaitwalkingrobot |