Downsizing the Motors of a Biped Robot Using a Hydraulic Direct Drive System

J. Shimizu, Takuya Otani, K. Hashimoto, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    Biped robots require a high power to be provided alternately on their two legs while walking, hopping, and running. However, the mounting of high-power and large electrical motors is challenging in conventional mechanical transmission systems because of space limitations. To address this issue, we employ herein a combination of hydraulic and transmission systems with an independent driving mode and a power-shared driving mode. In the independent driving mode, an actuator can be independently controlled based on flow-control, and pressure loss can be reduced. In the power-shared driving mode, actuators can also be controlled based on flow-control, and this mode allows the motor power of the left and right legs to be shared. We also employ a simulation to evaluate the proposed novel system and confirm that the motor power could be reduced by 35.6% for the hopping movement. This result shows that the rated output of the required motor can be reduced, and the selection of smaller and lighter motors is possible for installation in biped robots.

    Original languageEnglish
    Title of host publication2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
    PublisherIEEE Computer Society
    Pages580-586
    Number of pages7
    ISBN (Electronic)9781538672839
    DOIs
    Publication statusPublished - 2019 Jan 23
    Event18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing, China
    Duration: 2018 Nov 62018 Nov 9

    Publication series

    NameIEEE-RAS International Conference on Humanoid Robots
    Volume2018-November
    ISSN (Print)2164-0572
    ISSN (Electronic)2164-0580

    Conference

    Conference18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
    CountryChina
    CityBeijing
    Period18/11/618/11/9

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Hardware and Architecture
    • Human-Computer Interaction
    • Electrical and Electronic Engineering

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  • Cite this

    Shimizu, J., Otani, T., Hashimoto, K., & Takanishi, A. (2019). Downsizing the Motors of a Biped Robot Using a Hydraulic Direct Drive System. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018 (pp. 580-586). [8624941] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2018-November). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2018.8624941