TY - GEN
T1 - System-Level Design Methodology for a Distributed Electromechanical Actuator in Bio-Inspired Robots
AU - Ku, Bonhyun
AU - Banerjee, Arijit
N1 - Funding Information:
This material is based upon work supported by the National Science Foundation under Grant No. 1943791. The authors would also like to thank 3M Foundation, Power Affiliates Program at the University of Illinois Urbana-Champaign, and Kwanjeong Educational Foundation for supporting this work.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/5/17
Y1 - 2021/5/17
N2 - Biological mechanisms are embraced in mobile robots to interact with their environments. Although existing biologically inspired robots perform well, their performance is limited due to the lack of a flexible spine. A vertebrate spine provides agility, a wide range of motion, balance, and efficiency. This paper proposes a system-level design methodology for a distributed and scalable actuator that mimics a robotic spine in the vertical plane. A modified limb design is introduced that significantly improves the torque capability of the distributed actuator.
AB - Biological mechanisms are embraced in mobile robots to interact with their environments. Although existing biologically inspired robots perform well, their performance is limited due to the lack of a flexible spine. A vertebrate spine provides agility, a wide range of motion, balance, and efficiency. This paper proposes a system-level design methodology for a distributed and scalable actuator that mimics a robotic spine in the vertical plane. A modified limb design is introduced that significantly improves the torque capability of the distributed actuator.
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U2 - 10.1109/IEMDC47953.2021.9449607
DO - 10.1109/IEMDC47953.2021.9449607
M3 - Conference contribution
AN - SCOPUS:85112821530
T3 - 2021 IEEE International Electric Machines and Drives Conference, IEMDC 2021
BT - 2021 IEEE International Electric Machines and Drives Conference, IEMDC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Electric Machines and Drives Conference, IEMDC 2021
Y2 - 17 May 2021 through 20 May 2021
ER -