@inproceedings{40839e33bdd842efb57e930f978c87a1,
title = "A Spring-Aided Two-Dimensional Electromechanical Spine Architecture for Bio-Inspired Robots",
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.",
author = "Bonhyun Ku and Sunyu Wang and Arijit Banerjee",
note = "ACKNOWLEDGMENT The authors would like to thank Prof. Peter W. Sauer, the UIUC Power Affiliates Program, the Helm Fund, the Grainger Center for Electric Machinery and Electromechanics at UIUC, and the Kwanjeong Educational Foundation for supporting this research.; 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 ; Conference date: 03-11-2019 Through 08-11-2019",
year = "2019",
month = nov,
doi = "10.1109/IROS40897.2019.8967757",
language = "English (US)",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "793--798",
booktitle = "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019",
address = "United States",
}