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

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.

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

出版物シリーズ

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

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
Canada
Montreal
期間19/5/2019/5/24

Fingerprint

Hydraulics
Robots
Control systems
Energy conservation
Energy utilization

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

これを引用

Shimizu, J., Otani, T., Mizukami, H., Hashimoto, K., & Takanishi, A. (2019). Experimental validation of high-efficiency hydraulic direct-drive system for a biped humanoid robot-Comparison with valve-based control system. : 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 9453-9458). [8793787] (Proceedings - IEEE International Conference on Robotics and Automation; 巻数 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793787

Experimental validation of high-efficiency hydraulic direct-drive system for a biped humanoid robot-Comparison with valve-based control system. / Shimizu, J.; Otani, T.; Mizukami, H.; Hashimoto, K.; Takanishi, A.

2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 9453-9458 8793787 (Proceedings - IEEE International Conference on Robotics and Automation; 巻 2019-May).

研究成果: Conference contribution

Shimizu, J, Otani, T, Mizukami, H, Hashimoto, K & Takanishi, A 2019, Experimental validation of high-efficiency hydraulic direct-drive system for a biped humanoid robot-Comparison with valve-based control system. : 2019 International Conference on Robotics and Automation, ICRA 2019., 8793787, Proceedings - IEEE International Conference on Robotics and Automation, 巻. 2019-May, Institute of Electrical and Electronics Engineers Inc., pp. 9453-9458, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 19/5/20. https://doi.org/10.1109/ICRA.2019.8793787
Shimizu J, Otani T, Mizukami H, Hashimoto K, Takanishi A. Experimental validation of high-efficiency hydraulic direct-drive system for a biped humanoid robot-Comparison with valve-based control system. : 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 9453-9458. 8793787. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2019.8793787
Shimizu, J. ; Otani, T. ; Mizukami, H. ; Hashimoto, K. ; Takanishi, A. / Experimental validation of high-efficiency hydraulic direct-drive system for a biped humanoid robot-Comparison with valve-based control system. 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 9453-9458 (Proceedings - IEEE International Conference on Robotics and Automation).
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