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 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.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2022

Author dc:creator

• Stanger-Jones, Elijah B.

Advisor dc:contributor.advisor

• Kim, Sangbae

Statement dc:rights

• In Copyright - Educational Use Permitted
• Copyright MIT

Licence dc:rights.uri

• http://rightsstatements.org/page/InC-EDU/1.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/143188

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/143188