Novel design of biped robot based on Linear Induction Motors

摘要

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.