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In this paper, we propose a compact electromagnetic oscillatory actuator and its applications to three different micro robots such as tadpole robot, 2-legged robot and 4-legged robot. The electromagnetic oscillatory actuator has a simple structure composed of cores and coils. The oscillatory motion of the actuator is theoretically analyzed. Based on the dynamic modeling and FEM simulation, a prototype is designed and manufactured. Finally, we evaluate the performance of the three types of micro robots using the electromagnetic actuator through experiments.
Date of Conference: 24-27 June 2012