MIT Underactuated Robotics | Optimized Gear Ratios for the Mini Cheetah Platform
This project focused on using trajectory optimization to optimize the hip and knee gear ratios for a 2DoF simplified leg based of the Mini Cheetah platform.
Paper:
GitHub:
(MIT License)
By: Fiona Gillespie and Adi Mehrotra
--------
Special thanks to: Professor Sangbae Kim, Matt Chignoli, Charles Khazoom, Elijah B. Stanger-Jones, Andrew SaLoutos, Steve Heim (MIT Biomimetic Robotics Lab). And Professor Russ Tedrake, Alex Amice, Lu Yang ( Course Staff).
2 views
661
172
2 years ago 00:04:30 2
MIT Underactuated Robotics | Optimized Gear Ratios for the Mini Cheetah Platform
11 years ago 01:14:12 40
Lecture 1 | MIT Underactuated Robotics, Spring 2009