Abstract Implementing efficient actuators with good backdriveability properties is of primary importance for the design of high-performance performance bipedal robots. Nowadays, the use of linear direct drive electric motors is an interesting choice. This actuation scheme is closer to the efficient muscular system of human legs. However, the efficiency of linear motors is highly sensitive to the placement of their attachment points. Two main issues are addressed in this paper; (i) the optimal placement of the motors on the leg and (ii) the best actuation scheme of the leg with three motors when considering both mono-articular and bi-articular motors. Little research work has been devoted to these issues. Accordingly, a methodology is proposed to optimize linear motors attachment points. Instead of resorting to a pure numerical optimization, a first analytic-heuristic approach is proposed in order to obtain more insight into the optimization problem. This first approach, in addition to providing useful information, allows obtaining a good initial guess for the numerical optimization. Eventually, eight different leg architectures with three motors and combining different numbers of mono-articular and bi-articular motors are optimized. Results show the interest of using bi-articular motors to reduce the maximum effort required for each motor.

中文翻译：

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具有单关节和双关节线性驱动的双足运动腿设计

摘要 实现具有良好反向驱动性能的高效执行器对于高性能双足机器人的设计至关重要。如今，使用线性直接驱动电动机是一个有趣的选择。这种驱动方案更接近于人腿的高效肌肉系统。然而，直线电机的效率对其连接点的放置高度敏感。本文解决了两个主要问题；(i) 电机在腿上的最佳位置和 (ii) 在考虑单关节和双关节电机时，具有三个电机的腿的最佳驱动方案。很少有研究工作致力于这些问题。因此，提出了一种优化线性电机连接点的方法。而不是诉诸纯粹的数值优化，提出了第一种分析启发式方法，以便更深入地了解优化问题。第一种方法除了提供有用的信息外，还允许获得用于数值优化的良好初始猜测。最终，八种不同的腿部结构与三个电机以及不同数量的单关节和双关节电机的组合得到优化。结果表明使用双关节马达来减少每个马达所需的最大努力很有趣。八种不同的腿部结构与三个电机以及不同数量的单关节和双关节电机的组合得到优化。结果表明使用双关节马达来减少每个马达所需的最大努力很有趣。八种不同的腿部结构与三个电机以及不同数量的单关节和双关节电机的组合得到优化。结果表明使用双关节马达来减少每个马达所需的最大努力很有趣。