Alex Breton | Mechanical Engineer

  This class built off of the basic material I had learned in my introductory robotics class 2.12 and focused a lot more on DC motor control and programming for multiple DOF robots. 2.74 also made the link between biology/anatomy and robotics, especially focusing on the walking and gaits of bipeds and quadrupeds. 

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  For the course project, our team examined the brachiating model of the Acrobot, whose motion is similar to the gibbon, seen above. This 2-DOF swinging robot is classified as underactuated, because it only has one actuated joint (the elbow). We implemented a time-varying linear quadratic regulator in our controller. The robot had success at swinging up to the next branch with a fixed shoulder. Our project is shown below: