Underactuated Compliant Resonant Walking Robot with Steering Mechanism

Underactuated Compliant Resonant Walking Robot with Steering Mechanism

Lemmens, Cas (TU Delft Mechanical, Maritime and Materials Engineering)

Radaelli, G. (mentor)

Delft University of Technology

Delft University of Technology

Mechanical Engineering | Mechatronic System Design (MSD)

2023-09-11

This thesis report presents research on small walking robots. The report begins with an introduction that explains the project’s origin, outlines the project’s goal, and provides an overview of the report’s contents. Following the introduction, a literature study is conducted to investigate the current state-of- the-art steering mechanisms for walking robots.
After the literature study, the research paper is presented, detailing the design process and the robot’s performance results. The paper demonstrates the successful design of a frequency-actuated resonance robot with both forward locomotion and steering capabilities, achieved by using only one actuator.
In conclusion, the literature study provides a novel classification and overview of state-of-the-art walking robots. Furthermore, the research paper showcases the successful design of a frequency-actuated resonance robot with a forward locomotion and steering mechanism, all accomplished with the use of a single actuator.

Resonant
Compliant
Underactuated
Robotics
Eigenfrequency

http://resolver.tudelft.nl/uuid:c21e45c8-9420-4260-aa6e-1c63bd1d0931

Student theses

master thesis

© 2023 Cas Lemmens