A Spring-Aided Two-Dimensional Electromechanical Spine Architecture for Bio-Inspired Robots

Bonhyun Ku, Sunyu Wang, Arijit Banerjee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a distributed six-link two-dimensional electromechanical actuator that emulates a biological spine. The gearless actuator is made by stacking modules of E-shaped cores along with integrated springs. A coil excitation induces magnetic flux in the core, which produces electromechanical force in the air gap between two adjacent cores. The proposed actuator is driven by dc-dc converters with current control. Electromechanical force analysis for the proposed spine architecture with different air-gap distances and spring analysis that improve the actuator's performance are discussed. Experimental results show different biological motions with a prototype design. The prototype can produce a maximum torque of 1.4 N-m.

Original languageEnglish (US)
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages793-798
Number of pages6
ISBN (Electronic)9781728140049
DOIs
StatePublished - Nov 2019
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: Nov 3 2019Nov 8 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period11/3/1911/8/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Ku, B., Wang, S., & Banerjee, A. (2019). A Spring-Aided Two-Dimensional Electromechanical Spine Architecture for Bio-Inspired Robots. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 793-798). [8967757] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8967757