Design and Optimization of a Planar Biped Leg Based on Direct Drive Linear Actuators

M. Langard, Ph. Lucidarme, N. Delanoue, R. Guyonneau, F. Mercier, C. Chevallereau, Ph. Wenger, Y. Aoustin and Carlos Llopis-Albert

Mathematical Problems in Engineering, 2022, vol. 2022, 1-15

Abstract: The choice of actuation when designing a bipedal robot is an important matter, as it impacts its capacities and its control. In these aspects, electric direct-drive (DD) linear motors are interesting candidates. Indeed, they can reproduce the human muscle system by using monoarticular and bi-articular motors and offer a natural backdrivability for impact mitigation. However, motor efficiency depends on their elongation and their attachment points. The ROBIBIO (RObot humanoïde BI-articulaire BIO-inspiré) project aims to design and build a planar bipedal robot using electric direct-drive linear motors for the actuation. To do so, a simulator was developed to evaluate multiple human-like bipedal robot architectures over a set of motion-captured movements. Furthermore, a numerical optimization was done to find the best motor placement for each architecture.

Date: 2022
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:6455182

DOI: 10.1155/2022/6455182

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