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Design and Optimization of a Planar Biped Leg Based on Direct Drive Linear Actuators

Author

Listed:
  • M. Langard
  • Ph. Lucidarme
  • N. Delanoue
  • R. Guyonneau
  • F. Mercier
  • C. Chevallereau
  • Ph. Wenger
  • Y. Aoustin
  • Carlos Llopis-Albert

Abstract

The choice of actuation when designing a bipedal robot is an important matter, as it impacts its capacities and its control. In these aspects, electric direct-drive (DD) linear motors are interesting candidates. Indeed, they can reproduce the human muscle system by using monoarticular and bi-articular motors and offer a natural backdrivability for impact mitigation. However, motor efficiency depends on their elongation and their attachment points. The ROBIBIO (RObot humanoïde BI-articulaire BIO-inspiré) project aims to design and build a planar bipedal robot using electric direct-drive linear motors for the actuation. To do so, a simulator was developed to evaluate multiple human-like bipedal robot architectures over a set of motion-captured movements. Furthermore, a numerical optimization was done to find the best motor placement for each architecture.

Suggested Citation

  • M. Langard & Ph. Lucidarme & N. Delanoue & R. Guyonneau & F. Mercier & C. Chevallereau & Ph. Wenger & Y. Aoustin & Carlos Llopis-Albert, 2022. "Design and Optimization of a Planar Biped Leg Based on Direct Drive Linear Actuators," Mathematical Problems in Engineering, Hindawi, vol. 2022, pages 1-15, June.
    • Handle: RePEc:hin:jnlmpe:6455182
    DOI: 10.1155/2022/6455182
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