Earticle

초록

영어

In this research we propose a miniaturized dual electromagnetic oscillatory actuator. The proposed actuator is a moving magnet type voice coil actuator with two rotating parts. The structure of the actuator is simple, which includes two magnets, a coil, and a yoke. We provide a linear model to characterize the actuator. We then determine torque and restoring constants using finite element simulation. We also present the dynamic characteristics of the actuator. We propose several types of legged locomotion using dual electromagnetic oscillatory actuators, which is demonstrated and verified using our legged robot prototypes.

목차

Abstract
 1. Introduction
 2. Actuator Design and Modeling
  2.1. Actuator Design
  2.2. Model
 3. Actuator Design and Modeling
 4. Legged Locomotion
  4.1. Quadruped Locomotion
  4.2. Hexapod Locomotion
  4.3. Myriapod Locomotion
 5. Conclusion
 Acknowledgements
 References

키워드

저자

• Bu Hyun Shin [ Mechanical Engineering, Hanbat National University, Daejon, 305-719, Korea ]
• Kyung-min Lee [ Convergence Technology Examination Division 1, Korean Intellectual Property Office ]
• Youngshik Kim [ Mechanical Engineering, Hanbat National University, Daejon, 305-719, Korea ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605