Micro mobile robots using electromagnetic oscillatory actuator

In this paper, we propose a compact electromagnetic oscillatory actuator and its applications to three different micro robots such as tadpole robot, 2-legged robot and 4-legged robot. The electromagnetic oscillatory actuator has a simple structure composed of cores and coils. The oscillatory motion of the actuator is theoretically analyzed. Based on the dynamic modeling and FEM simulation, a prototype is designed and manufactured. Finally, we evaluate the performance of the three types of micro robots using the electromagnetic actuator through experiments.