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

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

研究成果: Conference contribution

3 被引用数 (Scopus)

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.

本文言語English
ホスト出版物のタイトル2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
出版社IEEE Computer Society
ページ580-586
ページ数7
ISBN(電子版)9781538672839
DOI
出版ステータス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(印刷版)2164-0572
ISSN(電子版)2164-0580

Conference

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用
  • 電子工学および電気工学

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