Design, Model, and Control of a Low-Cost 3 Degree of Freedom Balancing Laminate Leg with an Actively Controlled Ankle Using Fundamental Controls Concepts

• Other Authors: Shafa, Taha A (Author)
• Format: Dissertation
• Language: English
• Published: 2020
• Subjects: Robotics; Electrical engineering
• Online Access: http://hdl.handle.net/2286/R.I.57189

abstract: This thesis introduces a new robotic leg design with three degrees of freedom that can be adapted for both bipedal and quadrupedal locomotive systems, and serves as a blueprint for designers attempting to create low cost robot legs capable of balancing and walking. Currently, bipedal leg designs are mostly rigid and have not strongly taken into account the advantages/disadvantages of using an active ankle, as opposed to a passive ankle, for balancing. This design uses low-cost compliant materials, but the materials used are thick enough to mimic rigid properties under low stresses, so this paper will treat the links as rigid materials. A new leg design has been created that contains three degrees of freedom that can be adapted to contain either a passive ankle using springs, or an actively controlled ankle using an additional actuator. This thesis largely aims to focus on the ankle and foot design of the robot and the torque and speed requirements of the design for motor selection. The dynamics of the system, including height, foot width, weight, and resistances will be analyzed to determine how to improve design performance. Model-based control techniques will be used to control the angle of the leg for balancing. In doing so, it will also be shown that it is possible to implement model-based control techniques on robots made of laminate materials. === Dissertation/Thesis === Masters Thesis Engineering 2020