Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion

Hideki Mizukami; Takuya Otani; Juri Shimizu; Kenji Hashimoto; Masanori Sakaguchi; Yasuo Kawakami; Hun ok Lim; Atsuo Takanishi

doi:10.1007/978-3-030-58380-4_5

Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion

Hideki Mizukami, Takuya Otani, Juri Shimizu, Kenji Hashimoto, Masanori Sakaguchi, Yasuo Kawakami, Hun ok Lim, Atsuo Takanishi^*

^*この研究の対応する著者

研究成果: Chapter

1 被引用数 (Scopus)

抄録

We are developing the biped humanoid robot WATHLETE-1 (Waseda ATHLETE humanoid No.1) that has the same mass arrangement, link ratio, and output characteristics as humans. It is not possible to mount high-power electromagnetic motors and mechanical transmissions that satisfy the hip joint output at running because its weight makes it impossible to realize human body characteristics. To realize the characteristics of the human body, we adopted a hydraulic drive system that has a more advanced design than a mechanical transmission mechanism, that concentrates on the joints, and that can distribute output by splitting and merging oil. We propose a hydraulic circuit that improves the output of the actuator by connecting two hydraulic direct drive systems (HDDs) in parallel, independently mounted on the ankle and the hip joints using proportional valves. As a result, it has been confirmed that hip joint speed was improved by 200% compared to a single HDDs and with the potential of simulating the hip joint output required for a human running at 2.0 m/s.

本文言語	English
ホスト出版物のタイトル	CISM International Centre for Mechanical Sciences, Courses and Lectures
出版社	Springer Science and Business Media Deutschland GmbH
ページ	34-42
ページ数	9
DOI	https://doi.org/10.1007/978-3-030-58380-4_5
出版ステータス	Published - 2021

出版物シリーズ

名前	CISM International Centre for Mechanical Sciences, Courses and Lectures
巻	601
ISSN（印刷版）	0254-1971
ISSN（電子版）	2309-3706

ASJC Scopus subject areas

モデリングとシミュレーション
材料力学
機械工学
コンピュータサイエンスの応用

文献へのアクセス

10.1007/978-3-030-58380-4_5

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「Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル

Mizukami, H., Otani, T., Shimizu, J., Hashimoto, K., Sakaguchi, M., Kawakami, Y., Lim, H. O., & Takanishi, A. (2021). Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 34-42). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 601). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-58380-4_5

Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion. / Mizukami, Hideki; Otani, Takuya; Shimizu, Juri その他.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer Science and Business Media Deutschland GmbH, 2021. p. 34-42 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 601).

研究成果: Chapter

Mizukami, H, Otani, T, Shimizu, J, Hashimoto, K, Sakaguchi, M, Kawakami, Y, Lim, HO & Takanishi, A 2021, Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion. in CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 601, Springer Science and Business Media Deutschland GmbH, pp. 34-42. https://doi.org/10.1007/978-3-030-58380-4_5

Mizukami H, Otani T, Shimizu J, Hashimoto K, Sakaguchi M, Kawakami Y その他. Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion. In CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer Science and Business Media Deutschland GmbH. 2021. p. 34-42. (CISM International Centre for Mechanical Sciences, Courses and Lectures). doi: 10.1007/978-3-030-58380-4_5

Mizukami, Hideki ; Otani, Takuya ; Shimizu, Juri その他. / Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer Science and Business Media Deutschland GmbH, 2021. pp. 34-42 (CISM International Centre for Mechanical Sciences, Courses and Lectures).

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abstract = "We are developing the biped humanoid robot WATHLETE-1 (Waseda ATHLETE humanoid No.1) that has the same mass arrangement, link ratio, and output characteristics as humans. It is not possible to mount high-power electromagnetic motors and mechanical transmissions that satisfy the hip joint output at running because its weight makes it impossible to realize human body characteristics. To realize the characteristics of the human body, we adopted a hydraulic drive system that has a more advanced design than a mechanical transmission mechanism, that concentrates on the joints, and that can distribute output by splitting and merging oil. We propose a hydraulic circuit that improves the output of the actuator by connecting two hydraulic direct drive systems (HDDs) in parallel, independently mounted on the ankle and the hip joints using proportional valves. As a result, it has been confirmed that hip joint speed was improved by 200% compared to a single HDDs and with the potential of simulating the hip joint output required for a human running at 2.0 m/s.",

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note = "Funding Information: Acknowledgements. Research was conducted with the support of Research Institute for Science and Engineering, Waseda University; Humanoid Robotics Institute, Waseda University; Human Performance Laboratory, Waseda University; Future Robotics Organization, Waseda University. It was also financially supported in part by the JSPS KAKENHI Grant No. 17H00767. Further, 3DCAD software SolidWorks was provided by SolidWorks Japan K.K.; cables and connectors were provided by DYDEN CORPORATION. We would also like to thank Editage (www.editag e.jp) for English language editing. Publisher Copyright: {\textcopyright} 2021, CISM International Centre for Mechanical Sciences.",

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AU - Kawakami, Yasuo

AU - Lim, Hun ok

AU - Takanishi, Atsuo

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PY - 2021

Y1 - 2021

N2 - We are developing the biped humanoid robot WATHLETE-1 (Waseda ATHLETE humanoid No.1) that has the same mass arrangement, link ratio, and output characteristics as humans. It is not possible to mount high-power electromagnetic motors and mechanical transmissions that satisfy the hip joint output at running because its weight makes it impossible to realize human body characteristics. To realize the characteristics of the human body, we adopted a hydraulic drive system that has a more advanced design than a mechanical transmission mechanism, that concentrates on the joints, and that can distribute output by splitting and merging oil. We propose a hydraulic circuit that improves the output of the actuator by connecting two hydraulic direct drive systems (HDDs) in parallel, independently mounted on the ankle and the hip joints using proportional valves. As a result, it has been confirmed that hip joint speed was improved by 200% compared to a single HDDs and with the potential of simulating the hip joint output required for a human running at 2.0 m/s.

AB - We are developing the biped humanoid robot WATHLETE-1 (Waseda ATHLETE humanoid No.1) that has the same mass arrangement, link ratio, and output characteristics as humans. It is not possible to mount high-power electromagnetic motors and mechanical transmissions that satisfy the hip joint output at running because its weight makes it impossible to realize human body characteristics. To realize the characteristics of the human body, we adopted a hydraulic drive system that has a more advanced design than a mechanical transmission mechanism, that concentrates on the joints, and that can distribute output by splitting and merging oil. We propose a hydraulic circuit that improves the output of the actuator by connecting two hydraulic direct drive systems (HDDs) in parallel, independently mounted on the ankle and the hip joints using proportional valves. As a result, it has been confirmed that hip joint speed was improved by 200% compared to a single HDDs and with the potential of simulating the hip joint output required for a human running at 2.0 m/s.

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KW - Hydraulics

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