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Design of a Humanoid Biped for Walking Research
by

Daniel Joseph Paluska
Submitted to the Department of Mechanical Engineering in partial fulfillment of the requirements for the degree of Master of Science at the MASSACHUSETTS INSTITUTE OF TECHNOLOGY September 2000 c Massachusetts Institute of Technology 2000

Signature of Author . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Department of Mechanical Engineering August 31, 2000 Certified by . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Gill A. Pratt Assistant Professor of Electrical Engineering and Computer Science, MIT Thesis Supervisor Certified by . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ernesto Blanco Adjunct Professor of Mechanical Engineering, MIT Thesis Supervisor Accepted by . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ain Sonin Chairman, Departmental Committee on Graduate Students

Design of a Humanoid Biped for Walking Research by Daniel Joseph Paluska
Submitted to the Department of Mechanical Engineering on August 31, 2000, in partial fulfillment of the requirements for the degree of Master of Science

Abstract
This thesis presents the design of the robot M2. The primary motivation behind the work is to create a platform for research into bipedal walking. Bipedal robots have been built in the past, but most of them relied heavily on lessons from robotic arm research. There is evidence that suggests actuation and design for legged locomotion should deviate from the past standard of robotic arm design. Specifically, there should be an emphasis on low impedance actuation, shock tolerance, passive control mechanisms, and weight...

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"Robots". Anti Essays. 17 Dec. 2018

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Robots. Anti Essays. Retrieved December 17, 2018, from the World Wide Web: http://parimatchstavki7.com/free-essays/Robots-587745.html