TY - GEN
T1 - Experimental validation of high-efficiency hydraulic direct-drive system for a biped humanoid robot-Comparison with valve-based control system
AU - Shimizu, J.
AU - Otani, T.
AU - Mizukami, H.
AU - Hashimoto, K.
AU - Takanishi, A.
N1 - Funding Information:
*This study was conducted with the support of the Research Institute for Science and Engineering, Waseda University; Future Robotics Organization, Waseda University, and as a part of the humanoid project at the Humanoid Robotics Institute, Waseda University. We would like to thank Editage (www.editage.jp) for English language editing.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - 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.
AB - 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.
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U2 - 10.1109/ICRA.2019.8793787
DO - 10.1109/ICRA.2019.8793787
M3 - Conference contribution
AN - SCOPUS:85071451187
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 9453
EP - 9458
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -
