2026-05-22T17:52:32Zhttps://keep.lib.asu.edu/oai/requestoai:keep.lib.asu.edu:node-1582412024-12-23T18:01:48Zoai_pmh:alloai_pmh:repo_items158241
https://hdl.handle.net/2286/R.I.57189
http://rightsstatements.org/vocab/InC/1.0/
2020
55 pages
Masters Thesis
Academic theses
Text
eng
Shafa, Taha A
Aukes, Daniel M
Rogers, Bradley
Zhang, Wenlong
Arizona State University
Masters Thesis Engineering 2020
This thesis introduces a new robotic leg design with three degrees of freedom that<br/><br/>can be adapted for both bipedal and quadrupedal locomotive systems, and serves as<br/><br/>a blueprint for designers attempting to create low cost robot legs capable of balancing<br/><br/>and walking. Currently, bipedal leg designs are mostly rigid and have not strongly<br/><br/>taken into account the advantages/disadvantages of using an active ankle, as opposed<br/><br/>to a passive ankle, for balancing. This design uses low-cost compliant materials, but<br/><br/>the materials used are thick enough to mimic rigid properties under low stresses, so<br/><br/>this paper will treat the links as rigid materials. A new leg design has been created<br/><br/>that contains three degrees of freedom that can be adapted to contain either a passive<br/><br/>ankle using springs, or an actively controlled ankle using an additional actuator. This<br/><br/>thesis largely aims to focus on the ankle and foot design of the robot and the torque<br/><br/>and speed requirements of the design for motor selection. The dynamics of the system,<br/><br/>including height, foot width, weight, and resistances will be analyzed to determine<br/><br/>how to improve design performance. Model-based control techniques will be used to<br/><br/>control the angle of the leg for balancing. In doing so, it will also be shown that it<br/><br/>is possible to implement model-based control techniques on robots made of laminate<br/><br/>materials.
Robotics
Electrical Engineering
Design, Model, and Control of a Low-Cost 3 Degree of Freedom Balancing Laminate Leg with an Actively Controlled Ankle Using Fundamental Controls Concepts