Preliminary survey of backdrivable linear actuators for humanoid robots
ROMANSY 22–Robot Design, Dynamics and Control: Proceedings of the 22nd CISM …, 2019•Springer
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.
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.
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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