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

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

    研究成果: Conference contribution

    抄録

    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.

    元の言語English
    ホスト出版物のタイトル2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
    出版者IEEE Computer Society
    ページ580-586
    ページ数7
    ISBN(電子版)9781538672839
    DOI
    出版物ステータスPublished - 2019 1 23
    イベント18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing, China
    継続期間: 2018 11 62018 11 9

    出版物シリーズ

    名前IEEE-RAS International Conference on Humanoid Robots
    2018-November
    ISSN(印刷物)2164-0572
    ISSN(電子版)2164-0580

    Conference

    Conference18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
    China
    Beijing
    期間18/11/618/11/9

    Fingerprint

    Hydraulics
    Robots
    Flow control
    Actuators
    Mountings

    ASJC Scopus subject areas

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

    これを引用

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

    Downsizing the Motors of a Biped Robot Using a Hydraulic Direct Drive System. / Shimizu, J.; Otani, Takuya; Hashimoto, K.; Takanishi, Atsuo.

    2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018. IEEE Computer Society, 2019. p. 580-586 8624941 (IEEE-RAS International Conference on Humanoid Robots; 巻 2018-November).

    研究成果: Conference contribution

    Shimizu, J, Otani, T, Hashimoto, K & Takanishi, A 2019, Downsizing the Motors of a Biped Robot Using a Hydraulic Direct Drive System. : 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018., 8624941, IEEE-RAS International Conference on Humanoid Robots, 巻. 2018-November, IEEE Computer Society, pp. 580-586, 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018, Beijing, China, 18/11/6. https://doi.org/10.1109/HUMANOIDS.2018.8624941
    Shimizu J, Otani T, Hashimoto K, Takanishi A. Downsizing the Motors of a Biped Robot Using a Hydraulic Direct Drive System. : 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018. IEEE Computer Society. 2019. p. 580-586. 8624941. (IEEE-RAS International Conference on Humanoid Robots). https://doi.org/10.1109/HUMANOIDS.2018.8624941
    Shimizu, J. ; Otani, Takuya ; Hashimoto, K. ; Takanishi, Atsuo. / Downsizing the Motors of a Biped Robot Using a Hydraulic Direct Drive System. 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018. IEEE Computer Society, 2019. pp. 580-586 (IEEE-RAS International Conference on Humanoid Robots).
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