This thesis project was conducted in the Silicon Synapse Lab at Northeastern University under the advising of Prof. Ramezani. 

​

Objective

Develop a new robotic leg architecture that can absorb a 10m fall. Additional objectives include

• Improving jump height

• Decreasing moment of inertia

• Improving robustness

​

Summary of Achievements

• Created a process and analysis tools for designing a robotic leg along with selecting all system variables

• The leg I designed is a 5 bar linkage parallel leg with an elastic element and damper in parallel with the actuators

• The leg also implements a shock absorber for high velocity impacts due to falling

• Built simulators in Matlab + Simscape to analyze leg performance for falling and jumping

• Created CAD for a version of the leg that implemented an OTS shock absorber

​

Thesis Presentation

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

​

 

Click here for the link to the full thesis paper