Experimental validation of high-efficiency hydraulic direct-drive system for a biped humanoid robot-Comparison with valve-based control system

J. Shimizu, T. Otani, H. Mizukami, K. Hashimoto, A. Takanishi

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

1 Citation (Scopus)

Abstract

Biped robots require substantial amounts of power alternately on each leg while walking, hopping, and running. However, it is difficult to mount high-power large electrical motors in conventional mechanical transmission systems owing to spatial limitations. A hydraulic direct-drive system is proposed in which the size of the motor in each leg can be reduced by sharing the motor outputs between the legs. In this paper, the hydraulic direct-drive system is evaluated in an actual hydraulic system. Velocity followability, excellent energy saving, and virtually perfect position tracking are achieved with the proposed system. The results of performance comparison with a valve-based control system show that energy consumption is controlled and good position-following capability is achieved using the proposed system.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages9453-9458
Number of pages6
ISBN (Electronic)9781538660263
DOIs
Publication statusPublished - 2019 May
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 2019 May 202019 May 24

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period19/5/2019/5/24

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Shimizu, J., Otani, T., Mizukami, H., Hashimoto, K., & Takanishi, A. (2019). Experimental validation of high-efficiency hydraulic direct-drive system for a biped humanoid robot-Comparison with valve-based control system. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 9453-9458). [8793787] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793787