Date of Award
Humanoid, Low-impedance, Lower-limb robotics, Robotics
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 serve as a human movement controls research platform and is mechanically capable of running at 3 m/s.
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Taylor, Drake, "Design of Lower Legs of Mithra, a High-Performance Backdrivable Humanoid Robot" (2021). Electronic Theses and Dissertations. 1998.
Received from ProQuest
Robotics, Mechanical engineering