Abstract
This paper presents a preliminary survey of the use of direct drive linear motors for joint actuation of a humanoid robot. Their prime asset relies on backdrivability, a significant feature to properly cushion high impacts between feet and ground during dynamic walking or running. Our long-term goal is the design of high performance human size bipedal walking robots. However, this paper focuses on a preliminary feasibility study: the design and experimentation of a mono-actuator lower limb.
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Lucidarme, P., Delanoue, N., Mercier, F., Aoustin, Y., Chevallereau, C., Wenger, P. (2019). Preliminary Survey of Backdrivable Linear Actuators for Humanoid Robots. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_39
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DOI: https://doi.org/10.1007/978-3-319-78963-7_39
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