A precise magnetic walking mechanism

Jung Soo Choi, Yoon Su Baek

Research output: Contribution to journalArticlepeer-review


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
Issue number6
Publication statusPublished - 2014 Dec 1

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

All Science Journal Classification (ASJC) codes

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


Dive into the research topics of 'A precise magnetic walking mechanism'. Together they form a unique fingerprint.

Cite this