원문정보
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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
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
저자정보
참고문헌
자료제공 : 네이버학술정보