Novel design of biped robot based on Linear Induction Motors

Abstract

This work reports the preliminary results on a new design concept for bipedal walking robots. The concept is based on the actuators (Linear Induction Motors), and the prospect that these actuators provide to combine passive dynamic walking with active walking. Comprehensive mechanical and dynamic simulations were done to decide the suitable parameter for the actuators and the mechanical design. This paper presents results from the early stages of the actuators simulations until the preliminary result on equilibrium control tested in the real robot. These results show promising outcome on the use of these actuators for more complex equilibrium control and walking algorithms. The energy consumption is a key factor for further consideration of this actuators and design approach.

IDLE STATE STABILITY, LIMIT CYCLE WALKING & REGENERATIVE WALKING: TOWARDS LONG TIME AUTONOMY IN BIPEDS

“…This is very important since the duty cycle in the robotic usage can be very low making the energy saving in this stage significant. In our robot, the ISS is maintained with zero energy expenditure from the actuators [5], and under disturbance the robot will recover back to the ISS. 3a shows the idle state stability simulated and Fig.…”

“…Because of that much energy is wasted in the continuous position control of the leg. On [5] we propose the use of permanently actuated synchronous servo Linear Motors to efficiently address LCW. They do not have gear boxes and for that reason nothing breaks the natural swinging movement of the leg.…”

Direct-Drive Position Control of a Spiral Motor as a Monoarticular Actuator

“…A biarticular structure using dc motors and planetary gears was also shown in [15]. Other researchers use electromagnetic linear actuators for their biped design, such as in [16] and [17]. The actuator in [16] is a direct-drive threephase synchronous motor which is able to generate a thrust of 5.7 N with an effective current of 1 A.…”

“…The actuator in [16] is a direct-drive threephase synchronous motor which is able to generate a thrust of 5.7 N with an effective current of 1 A. For [17], linear induction motors (LIMs) with neodymium magnets were used for their biped robot. The shortest stroke of the motor is 50 mm with a force of around 40 N.…”