A precise magnetic walking mechanism

Jung Soo Choi, Yoon Su Baek

Research output: Contribution to journalArticle

Abstract

Inspired by magnetically actuated precision motion devices based on magnetic levitation and those based on elastic suspension, we devised a novel magnetic actuation mechanism, namely, a magnetic walking mechanism. This biped precision mechanism is a legged precision mechanism that consists of two elastically connected rigid legs. We designed the mechanism to be driven by one horizontal actuator and two vertical actuators, each comprising a permanent magnet and an air-core coil, and to produce both fine motion and walking motion. We discuss the underlying principles of force generation, leg actuation, fine motion, and walking motion. To demonstrate that both fine motion and walking motion can be created with this mechanism, we built and experimentally tested a two-legged walker. We successfully created a legged precision device capable of long-range fine motion and long-step walking motion based on a magnetic walking mechanism.

Original languageEnglish
Article number6922574
Pages (from-to)1412-1426
Number of pages15
JournalIEEE Transactions on Robotics
Volume30
Issue number6
DOIs
Publication statusPublished - 2014 Dec 1

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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