{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/54477"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/54477","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Design and fabrication of a two degree-of-freedom hopping robot with parallel architecture using linear Lorentz-force actuators","abstract":"This thesis presents the design and fabrication of a 2-DOF robotic leg using linear Lorentz-force actuators arranged in a parallel configuration. The decision to use linear actuators, a parallel architecture, and Lorentz-force motors was made because of distinct differences between these designs and the alternatives, notably, their lower weight, better resolution, and high bandwidth. We have shown that a robot of this construction can jump at least three times as high as the stroke length of its actuators, recording a maximum jump height of 48 mm using a stroke of 15 mm. 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