TY - GEN
T1 - Downsizing the Motors of a Biped Robot Using a Hydraulic Direct Drive System
AU - Shimizu, J.
AU - Otani, T.
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 and Future Robotics Organization, Waseda University and as a part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also financially supported in part by JSPS KAKENHI Grant No.17H00767. We would like to thank Editage (www.editage.jp) for the English language editing.
Publisher Copyright:
© 2018 IEEE.
PY - 2019/1/23
Y1 - 2019/1/23
N2 - Biped robots require a high power to be provided alternately on their two legs while walking, hopping, and running. However, the mounting of high-power and large electrical motors is challenging in conventional mechanical transmission systems because of space limitations. To address this issue, we employ herein a combination of hydraulic and transmission systems with an independent driving mode and a power-shared driving mode. In the independent driving mode, an actuator can be independently controlled based on flow-control, and pressure loss can be reduced. In the power-shared driving mode, actuators can also be controlled based on flow-control, and this mode allows the motor power of the left and right legs to be shared. We also employ a simulation to evaluate the proposed novel system and confirm that the motor power could be reduced by 35.6% for the hopping movement. This result shows that the rated output of the required motor can be reduced, and the selection of smaller and lighter motors is possible for installation in biped robots.
AB - Biped robots require a high power to be provided alternately on their two legs while walking, hopping, and running. However, the mounting of high-power and large electrical motors is challenging in conventional mechanical transmission systems because of space limitations. To address this issue, we employ herein a combination of hydraulic and transmission systems with an independent driving mode and a power-shared driving mode. In the independent driving mode, an actuator can be independently controlled based on flow-control, and pressure loss can be reduced. In the power-shared driving mode, actuators can also be controlled based on flow-control, and this mode allows the motor power of the left and right legs to be shared. We also employ a simulation to evaluate the proposed novel system and confirm that the motor power could be reduced by 35.6% for the hopping movement. This result shows that the rated output of the required motor can be reduced, and the selection of smaller and lighter motors is possible for installation in biped robots.
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U2 - 10.1109/HUMANOIDS.2018.8624941
DO - 10.1109/HUMANOIDS.2018.8624941
M3 - Conference contribution
AN - SCOPUS:85062304114
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 580
EP - 586
BT - 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
PB - IEEE Computer Society
T2 - 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
Y2 - 6 November 2018 through 9 November 2018
ER -