Magnetically actuated millimeter-scale biped

This paper presents a novel approach to studying bipedal locomotion using magnetically actuated miniature robots. Traditional bipedal locomotion machines are expensive and complex. In contrast, we introduce "Big Foot", a lightweight 0.3 g robot designed to explore fundamental concepts of bipedal locomotion without requiring complex hardware. We introduce a novel design and actuation mechanism for the magnetically actuated miniature robot, followed by a numerical model to analyze its dynamics and stability. Two actuation schemes are investigated: heel strike-based and constant period actuation. Heel strike-based actuation provides superior stability, consistent gait generation, and faster locomotion, while constant period actuation excels on steeper slopes. Experimental validation with Big Foot confirms successful uphill gait generation and trajectory tracking. Additionally, we highlight the potential scalability of our approach, proposing an extension to a design similar to an inertially actuated larger-scale biped without joint actuation at the ankles or hips.