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.
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Submitted on : Tuesday, January 22, 2019 - 4:51:38 PM
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Philippe Lucidarme, Nicolas Delanoue, Franck Mercier, Yannick Aoustin, Christine Chevallereau, et al.. Preliminary survey of backdrivable linear actuators for humanoid robots. 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY'2018), Jun 2018, Rennes, France. pp.304-313, ⟨10.1007/978-3-319-78963-7_39⟩. ⟨hal-01989982⟩

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