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

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2019 International Conference on Robotics and Automation, ICRA 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ9453-9458
ページ数6
ISBN(電子版)9781538660263
DOI
出版ステータスPublished - 2019 5月
イベント2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
継続期間: 2019 5月 202019 5月 24

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2019-May
ISSN(印刷版)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
国/地域Canada
CityMontreal
Period19/5/2019/5/24

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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