Abstract
Bio-inspired robots, such as quadruped and humanoid robots, have rigid torsos and use geared motors for limbs. Their stiff bodies restrict flexibility and the gears limit robotic performance, including reduced actuation speed, poor backdrivability and backlash. This presentation introduces a gearless distributed electromechanical actuator for a robotic spine. Each module consists of an E-shaped core and two coils, and in total six modules are connected in series. A single module and the entire system represent a vertebra and the vertebrae, respectively. Each module utilizes the electromagnetic force induced by coil currents. A distributed air-gap model is proposed to improve force estimation with non-uniform air gaps and core saturation explicitly taken into consideration.
