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Full-Text Articles in Robotics
Design Of Lower Legs Of Mithra, A High-Performance Backdrivable Humanoid Robot, Drake Taylor
Design Of Lower Legs Of Mithra, A High-Performance Backdrivable Humanoid Robot, Drake Taylor
Electronic Theses and Dissertations
This thesis presents the design of the knee and ankle of Mithra, a new humanoid robot that aims to be an energy-efficient and highly agile machine. Mithra makes use of new optimization metrics for legged robots to develop a system capable of mimicking human movement. A series of low-impedance, high-torque actuator systems were developed with the goal of creating lightweight, powerful, and robust motion. The structure of Mithra's legs mimics the human structure in leg segment length and weight proportions. Detailed design and analysis were conducted in order to allow Mithra to be a robust and maintainable system. Mithra will …
Design, Manufacture, And Test Of A Hybrid Aerial-Ground Robotic Platform, William Garrett Willmon
Design, Manufacture, And Test Of A Hybrid Aerial-Ground Robotic Platform, William Garrett Willmon
Electronic Theses and Dissertations
A hybrid aerial-ground robotic platform allows for enhanced functionality combining most of the operational profiles of an aerial and ground vehicle with applications to intelligence, surveillance, reconnaissance (ISR), infrastructure inspection, emergency response, photography, etc. Motivated by this challenge, we designed, developed, and tested a prototype hybrid aerial-ground robotic vehicle capable of guidance, navigation, and control in the air and on the ground. The thesis focus is on the system design. As such, at first, we designed and analyzed the mechanical component to ensure durability. We then designed the electrical component to reduce overall weight and maximize battery life. We developed …