2 Dof Junior Cheetah Leg

Keywords: Teach Project, DC Motor Control, PID, System Identification, Impedance Control

Tutor: Prof. Patrick M. Wensing and Prof. Paul Rumbach (University of Notre Dame, South Bend)

Members: Shenggao Li

Introduction

I redesigned and built the 2 Dof junior Cheetah leg as set of experiments for an undergrade course AME 30358 - Mechatronics Lab. The purpose of the experiments is to teach the student about the DC motor control, PID controller, system ID of DC motor, and impedance control. The template code can be found at github. And the experiment procedure can be found at course page: Experiment 1 & Experiemtn 2.