Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion

Hideki Mizukami; Takuya Otani; Juri Shimizu; Kenji Hashimoto; Masanori Sakaguchi; Yasuo Kawakami; Hun ok Lim; Atsuo Takanishi

doi:10.1007/978-3-030-58380-4_5

Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion

Hideki Mizukami, Takuya Otani, Juri Shimizu, Kenji Hashimoto, Masanori Sakaguchi, Yasuo Kawakami, Hun ok Lim, Atsuo Takanishi^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Chapter

1 Citation (Scopus)

Abstract

We are developing the biped humanoid robot WATHLETE-1 (Waseda ATHLETE humanoid No.1) that has the same mass arrangement, link ratio, and output characteristics as humans. It is not possible to mount high-power electromagnetic motors and mechanical transmissions that satisfy the hip joint output at running because its weight makes it impossible to realize human body characteristics. To realize the characteristics of the human body, we adopted a hydraulic drive system that has a more advanced design than a mechanical transmission mechanism, that concentrates on the joints, and that can distribute output by splitting and merging oil. We propose a hydraulic circuit that improves the output of the actuator by connecting two hydraulic direct drive systems (HDDs) in parallel, independently mounted on the ankle and the hip joints using proportional valves. As a result, it has been confirmed that hip joint speed was improved by 200% compared to a single HDDs and with the potential of simulating the hip joint output required for a human running at 2.0 m/s.

Original language	English
Title of host publication	CISM International Centre for Mechanical Sciences, Courses and Lectures
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	34-42
Number of pages	9
DOIs	https://doi.org/10.1007/978-3-030-58380-4_5
Publication status	Published - 2021

Publication series

Name	CISM International Centre for Mechanical Sciences, Courses and Lectures
Volume	601
ISSN (Print)	0254-1971
ISSN (Electronic)	2309-3706

Keywords

Biped robot
Hydraulics
Parallel connection
Running

ASJC Scopus subject areas

Modelling and Simulation
Mechanics of Materials
Mechanical Engineering
Computer Science Applications

Access to Document

10.1007/978-3-030-58380-4_5

Cite this

Mizukami, H., Otani, T., Shimizu, J., Hashimoto, K., Sakaguchi, M., Kawakami, Y., Lim, H. O., & Takanishi, A. (2021). Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 34-42). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 601). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-58380-4_5

Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion. / Mizukami, Hideki; Otani, Takuya; Shimizu, Juri et al.

CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer Science and Business Media Deutschland GmbH, 2021. p. 34-42 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 601).

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Mizukami, H, Otani, T, Shimizu, J, Hashimoto, K, Sakaguchi, M, Kawakami, Y, Lim, HO & Takanishi, A 2021, Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion. in CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 601, Springer Science and Business Media Deutschland GmbH, pp. 34-42. https://doi.org/10.1007/978-3-030-58380-4_5

Mizukami H, Otani T, Shimizu J, Hashimoto K, Sakaguchi M, Kawakami Y et al. Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion. In CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer Science and Business Media Deutschland GmbH. 2021. p. 34-42. (CISM International Centre for Mechanical Sciences, Courses and Lectures). doi: 10.1007/978-3-030-58380-4_5

Mizukami, Hideki ; Otani, Takuya ; Shimizu, Juri et al. / Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer Science and Business Media Deutschland GmbH, 2021. pp. 34-42 (CISM International Centre for Mechanical Sciences, Courses and Lectures).

@inbook{ceee81db7d9643cb9790ca40776e034c,

title = "Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion",

abstract = "We are developing the biped humanoid robot WATHLETE-1 (Waseda ATHLETE humanoid No.1) that has the same mass arrangement, link ratio, and output characteristics as humans. It is not possible to mount high-power electromagnetic motors and mechanical transmissions that satisfy the hip joint output at running because its weight makes it impossible to realize human body characteristics. To realize the characteristics of the human body, we adopted a hydraulic drive system that has a more advanced design than a mechanical transmission mechanism, that concentrates on the joints, and that can distribute output by splitting and merging oil. We propose a hydraulic circuit that improves the output of the actuator by connecting two hydraulic direct drive systems (HDDs) in parallel, independently mounted on the ankle and the hip joints using proportional valves. As a result, it has been confirmed that hip joint speed was improved by 200% compared to a single HDDs and with the potential of simulating the hip joint output required for a human running at 2.0 m/s.",

keywords = "Biped robot, Hydraulics, Parallel connection, Running",

author = "Hideki Mizukami and Takuya Otani and Juri Shimizu and Kenji Hashimoto and Masanori Sakaguchi and Yasuo Kawakami and Lim, {Hun ok} and Atsuo Takanishi",

note = "Funding Information: Acknowledgements. Research was conducted with the support of Research Institute for Science and Engineering, Waseda University; Humanoid Robotics Institute, Waseda University; Human Performance Laboratory, Waseda University; Future Robotics Organization, Waseda University. It was also financially supported in part by the JSPS KAKENHI Grant No. 17H00767. Further, 3DCAD software SolidWorks was provided by SolidWorks Japan K.K.; cables and connectors were provided by DYDEN CORPORATION. We would also like to thank Editage (www.editag e.jp) for English language editing. Publisher Copyright: {\textcopyright} 2021, CISM International Centre for Mechanical Sciences.",

year = "2021",

doi = "10.1007/978-3-030-58380-4_5",

language = "English",

series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "34--42",

booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",

}

TY - CHAP

T1 - Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion

AU - Mizukami, Hideki

AU - Otani, Takuya

AU - Shimizu, Juri

AU - Hashimoto, Kenji

AU - Sakaguchi, Masanori

AU - Kawakami, Yasuo

AU - Lim, Hun ok

AU - Takanishi, Atsuo

N1 - Funding Information: Acknowledgements. Research was conducted with the support of Research Institute for Science and Engineering, Waseda University; Humanoid Robotics Institute, Waseda University; Human Performance Laboratory, Waseda University; Future Robotics Organization, Waseda University. It was also financially supported in part by the JSPS KAKENHI Grant No. 17H00767. Further, 3DCAD software SolidWorks was provided by SolidWorks Japan K.K.; cables and connectors were provided by DYDEN CORPORATION. We would also like to thank Editage (www.editag e.jp) for English language editing. Publisher Copyright: © 2021, CISM International Centre for Mechanical Sciences.

PY - 2021

Y1 - 2021

N2 - We are developing the biped humanoid robot WATHLETE-1 (Waseda ATHLETE humanoid No.1) that has the same mass arrangement, link ratio, and output characteristics as humans. It is not possible to mount high-power electromagnetic motors and mechanical transmissions that satisfy the hip joint output at running because its weight makes it impossible to realize human body characteristics. To realize the characteristics of the human body, we adopted a hydraulic drive system that has a more advanced design than a mechanical transmission mechanism, that concentrates on the joints, and that can distribute output by splitting and merging oil. We propose a hydraulic circuit that improves the output of the actuator by connecting two hydraulic direct drive systems (HDDs) in parallel, independently mounted on the ankle and the hip joints using proportional valves. As a result, it has been confirmed that hip joint speed was improved by 200% compared to a single HDDs and with the potential of simulating the hip joint output required for a human running at 2.0 m/s.

AB - We are developing the biped humanoid robot WATHLETE-1 (Waseda ATHLETE humanoid No.1) that has the same mass arrangement, link ratio, and output characteristics as humans. It is not possible to mount high-power electromagnetic motors and mechanical transmissions that satisfy the hip joint output at running because its weight makes it impossible to realize human body characteristics. To realize the characteristics of the human body, we adopted a hydraulic drive system that has a more advanced design than a mechanical transmission mechanism, that concentrates on the joints, and that can distribute output by splitting and merging oil. We propose a hydraulic circuit that improves the output of the actuator by connecting two hydraulic direct drive systems (HDDs) in parallel, independently mounted on the ankle and the hip joints using proportional valves. As a result, it has been confirmed that hip joint speed was improved by 200% compared to a single HDDs and with the potential of simulating the hip joint output required for a human running at 2.0 m/s.

KW - Biped robot

KW - Hydraulics

KW - Parallel connection

KW - Running

UR - http://www.scopus.com/inward/record.url?scp=85092366053&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85092366053&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-58380-4_5

DO - 10.1007/978-3-030-58380-4_5

M3 - Chapter

AN - SCOPUS:85092366053

T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures

SP - 34

EP - 42

BT - CISM International Centre for Mechanical Sciences, Courses and Lectures

PB - Springer Science and Business Media Deutschland GmbH

ER -

Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion

Abstract

Publication series

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this