This thesis describes a new Compliant Articulated Robot Leg (CARL) which is a prototype leg for an autonomous quadruped robot. The leg is designed for dynamic walking, trotting and bounding gaits, with an expected top speed of 3m/s. To facilitate the construction of multi-legged creatures, the leg was designed as a modular, self-contained unit with integrated amplifiers and control electronics. It is an articulated 3 DOF design with revolute joints as opposed to prismatic joints for improved mobility, simplicity and low friction. It employs electric actuation instead of hydraulics for indoor power autonomy, improved modeling, control and reliability. The use of fractional horsepower DC motors in a running robot is feasible through a novel AnTagonistic LADD Actuation System (ATLAS) which converts motor effort to high joint torques with similar efficiencies as the best conventional transmissions, but at substantial weight savings.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:QMM.22664 |
| Date | January 1995 |
| Creators | Mennitto, Giuseppe |
| Contributors | Buehler, M. (advisor) |
| Publisher | McGill University |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
| Format | application/pdf |
| Coverage | Master of Engineering (Department of Mechanical Engineering.) |
| Rights | All items in eScholarship@McGill are protected by copyright with all rights reserved unless otherwise indicated. |
| Relation | alephsysno: 001459949, proquestno: MM05463, Theses scanned by UMI/ProQuest. |
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