Design, Model, and Control of a Low-Cost 3 Degree of Freedom Balancing Laminate Leg with an Actively Controlled Ankle Using Fundamental Controls Concepts

This thesis introduces a new robotic leg design with three degrees of freedom that

can be adapted for both bipedal and quadrupedal locomotive systems, and serves as

a blueprint for designers attempting to create low cost robot legs capable of balancing

and walking. Currently, bipedal leg designs are mostly rigid and have not strongly

taken into account the advantages/disadvantages of using an active ankle, as opposed

to a passive ankle, for balancing. This design uses low-cost compliant materials, but

the materials used are thick enough to mimic rigid properties under low stresses, so

this paper will treat the links as rigid materials. A new leg design has been created

that contains three degrees of freedom that can be adapted to contain either a passive

ankle using springs, or an actively controlled ankle using an additional actuator. This

thesis largely aims to focus on the ankle and foot design of the robot and the torque

and speed requirements of the design for motor selection. The dynamics of the system,

including height, foot width, weight, and resistances will be analyzed to determine

how to improve design performance. Model-based control techniques will be used to

control the angle of the leg for balancing. In doing so, it will also be shown that it

is possible to implement model-based control techniques on robots made of laminate

materials.