On a high-backdrivable direct-drive actuator for musculoskeletal bipedal robots

Author

Fujimoto, Yasutaka ; Wakayama, Yuuki ; Omori, Hiroko ; Smadi, Issam A.

Author_Institution

Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan

fYear

2010

fDate

21-24 March 2010

Firstpage

389

Lastpage

395

Abstract

This paper reports on newly developed small-size prototypes of spiral motors for a musculoskeletal robot application. The prototype has smooth helical surface so that the mover can touch down the stator. The stator core is made from SMC (Soft Magnetic Composite) in order to reduce iron loss. Helical-shape permanent magnets are mounted on the surface of the mover. The motor realizes compact direct-drive motion systems. A concept and design sketch of a musculoskeletal robot in which the spiral motors are installed as artificial muscle is shown. Also modeling and control of the spiral motor are reported.

Keywords

actuators; drives; force control; legged locomotion; manipulators; medical robotics; motion control; patient rehabilitation; permanent magnet motors; stators; artificial muscle; direct-drive motion systems; helical-shape permanent magnets; high-backdrivable direct-drive actuator; musculoskeletal bipedal robots; smooth helical surface; soft magnetic composite; spiral motors; stator core; Actuators; Iron; Musculoskeletal system; Permanent magnet motors; Prototypes; Robots; Sliding mode control; Soft magnetic materials; Spirals; Stator cores;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2010 11th IEEE International Workshop on

Conference_Location

Nagaoka, Niigata

ISSN

1943-6572

Print_ISBN

978-1-4244-6668-9

Electronic_ISBN

1943-6572

Type

conf

DOI

10.1109/AMC.2010.5464097

Filename

5464097