Magnetic Robotics: A Biologically Inspired Walking Robot

概要

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In this paper, we introduce a biologically inspired walking robot and its biomimetic mechanism. The proposed magnetic robot is driven by a rotating magnetic field. The magnetic musculoskeletal structure (MMS) of the actuator produces magnetic torque within the rotating magnetic field. In addition, the rotating magnetic field provides wireless and battery-free operation to the micro-robot. The musculoskeletal structure of the human shoulder is developed by magnetic artificial muscles that consist of an NdFeB ball-type permanent magnet, 25 um polyimide thin film, and a metallic ring. Using the proposed system, we realized a new walking mechanism and walking robot for magnetic micro-robotics. The walking pattern depends on the direction of the magnetic torque between magnetic moment on the ball magnet and the rotating magnetic field. The direction of the magnetic moment is fixed. Therefore, the plane of the rotating magnetic field and the rotating direction are changed by an external joystick. This control method provides various walking performance such as turning, forward, and backward capabilities. The developed walking robot is analyzed through magnetics, biomechanics, and robotics. These various approaches can contribute development of the magnetic robotics.