TY - GEN
T1 - Flow Compensation for Hydraulic Direct-Drive System with a Single-rod Cylinder Applied to Biped Humanoid Robot
AU - Shimizu, J.
AU - Otani, T.
AU - Mizukami, H.
AU - Hashimoto, K.
AU - Takanishi, A.
N1 - Funding Information:
*This study was conducted with the support of the Research Institute for Science and Engineering, Waseda University; Future Robotics Organization, Waseda University, and as a part of the humanoid project at the Humanoid Robotics Institute, Waseda University. We would like to thank Editage (www.editage.jp) for English language editing. J. Shimizu is with the Graduate School of Advanced Science and Engineering, Waseda University, and is also a researcher at Hitachi, Ltd., #41-304, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, JAPAN (e-mail: contact@takanishi.mech.waseda.ac.jp). T. Otani is with the Department of Modern Mechanical Engineering, Waseda University; and is is also a researcher at the Humanoid Robotics Institute (HRI), Waseda University. H. Mizukami is with the Graduate School of Creative Science and Engineering, Waseda University. K. Hashimoto is with the School of Science and Technology, Meiji University; and is also a researcher at the Humanoid Robotics Institute, Waseda University. A. Takanishi is with the Department of Modern Mechanical Engineering, Waseda University; and is the director of the Humanoid Robotics Institute, Waseda University.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - Biped robots require massive power on each leg while walking, hopping, and running. We have developed a flow-based control system - called hydraulic direct drive system - that can achieve high output while avoiding spatial limitations. To implement the proposed system with simple equipment configuration, a pump and single-rod cylinder are connected in a closed loop. However, because compensation for flow rate is impossible in a completely closed loop, owing to the difference in the pressure receiving area caused by the rod, a passive flow compensation valve is employed. This valve has a simple structure and is easy to implement. Further, an additional sensor is required to detect the open/close state because the valve state will cause an error in flow control. Therefore, we implemented a model in the controller to predict the state of the flow compensation valve and formulated a method of switching from flow control to pressure control according to the predicted state. Experimental results indicate that the error of the joint angle is reduced to less than 1.6 degrees for walking patterns, and stable walking is realized when the system is installed in biped humanoid robots.
AB - Biped robots require massive power on each leg while walking, hopping, and running. We have developed a flow-based control system - called hydraulic direct drive system - that can achieve high output while avoiding spatial limitations. To implement the proposed system with simple equipment configuration, a pump and single-rod cylinder are connected in a closed loop. However, because compensation for flow rate is impossible in a completely closed loop, owing to the difference in the pressure receiving area caused by the rod, a passive flow compensation valve is employed. This valve has a simple structure and is easy to implement. Further, an additional sensor is required to detect the open/close state because the valve state will cause an error in flow control. Therefore, we implemented a model in the controller to predict the state of the flow compensation valve and formulated a method of switching from flow control to pressure control according to the predicted state. Experimental results indicate that the error of the joint angle is reduced to less than 1.6 degrees for walking patterns, and stable walking is realized when the system is installed in biped humanoid robots.
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U2 - 10.1109/ICRA40945.2020.9196956
DO - 10.1109/ICRA40945.2020.9196956
M3 - Conference contribution
AN - SCOPUS:85092745909
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2857
EP - 2863
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -