A low cost modular actuator for dynamic robots

This thesis details the hardware and control development for a low-cost modular actuator, intended for use in highly dynamic robots. A small 12 degree of freedom quadruped robot has built using these actuators, on which several control experiments have been performed. Despite the relatively low cost of the actuators, the quadruped has demonstrated unprecedented dynamic behaviors for a robot of this scale and number of degrees of freedom, such as a full 360° backflip from standing on flat ground. Several other implementations of these actuators are also discussed, a including bilateral teleoperation and haptic feedback system and a 6 degree of freedom lower-body biped robot.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2018

Author dc:creator

• Katz, Benjamin G

Advisor dc:contributor.advisor

• Sangbae Kim.

• Mechanical Engineering.

Statement dc:rights

• MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/118671

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/118671