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Miniaturized double-legged robot utilizing perpendicular-axes electromagnetic actuator

Abstract

This study presents a novel miniaturized double-legged robot that utilized two perpendicular-axes electromagnetic actuators. The structure of these actuators is based on the working principle of the oscillatory electromagnetic drivers. Each actuator primarily comprises two orthogonal electromagnetic coils. These coils act as a permanent magnet placed inside a mate frame that revolves around two axes. The mate frame revolves around the relevant axis according to activate the respective coil. Two actuators align symmetrically to the robot body so they are considered as dual legs of the robot. Then, the kinematic of the miniaturized robot is derived to compose the locomotion methods as synchronous gait and asynchronous gait. Subsequently, both locomotion algorithms are executed to generate turning motion and straight motion. A virtual model of our presented robot is simulated through a cross-platform multi-body physics engine (Matlab/Simulink Simscape Multibody) to verify the walking ability of the mechanical structure. Finally, all experimental results of the physical prototype are investigated to validate the performance of both gaits when conducting the straight motion and turning motion.

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Acknowledgements

This results was supported by “Regional Innovation Strategy (RIS)” through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (MOE)(2021RIS-004) and Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (2020R1I1A307033312).

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Correspondence to Buhyun Shin.

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Le, Q.H., Lee, W., Kim, Y. et al. Miniaturized double-legged robot utilizing perpendicular-axes electromagnetic actuator. Microsyst Technol (2022). https://doi.org/10.1007/s00542-022-05291-y

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  • DOI: https://doi.org/10.1007/s00542-022-05291-y