TY - GEN
T1 - Experimental Validation of Hydraulic Interlocking Drive System for Biped Humanoid Robot
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 - 2019/11
Y1 - 2019/11
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS40897.2019.8968253
DO - 10.1109/IROS40897.2019.8968253
M3 - Conference contribution
AN - SCOPUS:85081165471
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 7163
EP - 7169
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -