Experimental Validation of Hydraulic Interlocking Drive System for Biped Humanoid Robot

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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Biped robots require substantial amounts of power on each leg alternately while walking, hopping, and running. However, it is difficult to adopt large high-power electrical motors in conventional mechanical transmission systems owing to spatial limitations. To address this problem, a hydraulic interlocking drive system that incorporates two hydraulic direct-drive systems is proposed for biped humanoid robots. The hydraulic interlocking drive system connects the two hydraulic direct-drive systems and concentrates the pump output on one side cylinder. The other side cylinder meter-in flow rate is controlled by the meter-out flow rate from the cylinder on which the pump is concentrated. Good position tracking and excellent energy saving are achieved with the proposed system. A performance comparison with a single hydraulic direct-drive system shows that the motor power of the hip pitch joint is reduced by 27.3% for walking patterns. This result shows that the rated output of the motor can be reduced, and smaller and lighter motors can be installed in biped robots.

本文言語English
ホスト出版物のタイトル2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ7163-7169
ページ数7
ISBN(電子版)9781728140049
DOI
出版ステータスPublished - 2019 11
イベント2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
継続期間: 2019 11 32019 11 8

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period19/11/319/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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