{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/67617"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/67617","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Design, construction, and experiments with a compass gait walking robot","abstract":"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.","abstract_html":"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.","abstract_has_math":false,"creators":["Jackowski, Zachary John"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Russell L Tedrake."],"committee_chairs":[],"committee_members":[],"year":2011,"date_issued":"2011","date_published":"2011","updated_at":"2026-07-22T22:21:14Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["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."],"rights_urls":["http://dspace.mit.edu/handle/1721.1/7582"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1721.1/67617","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Russell L Tedrake."]},{"key":"dc:contributor.department","label":"Department","values":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."]},{"key":"dc:contributor.other","label":"Dc Contributor Other","values":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."]},{"key":"dc:creator","label":"Author","values":["Jackowski, Zachary John"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2011-12-09T21:33:10Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2011-12-09T21:33:10Z"]},{"key":"dc:date.issued","label":"Date","values":["2011"]},{"key":"dc:publisher","label":"Institution","values":["Massachusetts Institute of Technology"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Mechanical Engineering."]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["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."]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://dspace.mit.edu/handle/1721.1/7582"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/1721.1/67617"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.","Cataloged from PDF version of thesis.","Includes bibliographical references (p. 91-93)."]},{"key":"dc:description.abstract","label":"Abstract","values":["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."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["S.M."]},{"key":"dc:title","label":"Title","values":["Design, construction, and experiments with a compass gait walking robot"]}]}],"canonical_facts":{"dc:contributor.advisor":["Russell L Tedrake."],"dc:contributor.department":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."],"dc:contributor.other":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."],"dc:creator":["Jackowski, Zachary John"],"dc:date.accessioned":["2011-12-09T21:33:10Z"],"dc:date.available":["2011-12-09T21:33:10Z"],"dc:date.issued":["2011"],"dc:description":["Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.","Cataloged from PDF version of thesis.","Includes bibliographical references (p. 91-93)."],"dc:description.abstract":["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."],"dc:description.degree":["S.M."],"dc:identifier.uri":["http://hdl.handle.net/1721.1/67617"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["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."],"dc:rights.uri":["http://dspace.mit.edu/handle/1721.1/7582"],"dc:subject":["Mechanical Engineering."],"dc:title":["Design, construction, and experiments with a compass gait walking robot"],"dc:type":["Thesis"]},"updated_at":"2026-07-22T22:21:14Z"}