Date of Award

2021

Document Type

Masters Thesis

Degree Name

M.S.

Organizational Unit

Daniel Felix Ritchie School of Engineering and Computer Science, Mechanical and Materials Engineering

First Advisor

Siavash Rezazadeh

Second Advisor

Bradley Davidson

Third Advisor

Matt Rutherford

Keywords

Humanoid, Low-impedance, Lower-limb robotics, Robotics

Abstract

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.

Publication Statement

Copyright is held by the author. User is responsible for all copyright compliance.

Rights Holder

Drake Taylor

Provenance

Received from ProQuest

File Format

application/pdf

Language

en

File Size

113 pgs

Discipline

Robotics, Mechanical engineering

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