Preliminary survey of backdrivable linear actuators for humanoid robots - Archive ouverte HAL Access content directly
Book Sections Year : 2019

Preliminary survey of backdrivable linear actuators for humanoid robots

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.
Fichier principal
Vignette du fichier
lucidarme.pdf (1.29 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01984430 , version 1 (17-01-2019)

Identifiers

  • HAL Id : hal-01984430 , version 1

Cite

Philippe Bruno Lucidarme, Nicolas Delanoue, Franck Mercier, Yannick Aoustin, Christine Chevallereau, et al.. Preliminary survey of backdrivable linear actuators for humanoid robots. ROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, 2019. ⟨hal-01984430⟩
114 View
153 Download

Share

Gmail Facebook X LinkedIn More