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Development of High Power Hydraulic Legged Mechanism with Bi-Articular Actuator and Parallel Elastic Component

Research Project

Project/Area Number 23760219
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionThe University of Tokyo

Principal Investigator

KAMINAGA Hiroshi  東京大学, 情報理工学(系)研究科, 助教 (90571571)

Project Period (FY) 2011 – 2013
Project Status Completed (Fiscal Year 2013)
Budget Amount *help
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2013: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2012: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2011: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Keywordsロボットアクチュエータ / 力制御 / バックドライバビリティ / 電気静油圧アクチュエータ / 二関節筋 / エネルギ蓄積 / 脚機構
Research Abstract

The objective of the research is to solve issues of actuators that are the burdens of biped robots to become practical. The main issues are durability, power density, backdrivability, energy storage, and controllability. We proposed the use of redundant Electro-Hydrostatic Actuator (EHA) with elastic components, which we named EHA-PE, based on the fact that the EHA has high backdrivability and impact resistance. We designed high power EHA, elastic differential accumulator for energy storage, and link mechanism. We then studied the optimal design method for legged mechanism with EHA-PE. We developed force controller utilizing properties of EHA. We developed evaluation equipment to measure dynamic property of actuator output. We confirmed the maximum force of the developed EHA to be 1.5kN and control bandwidth to be 2.5Hz with actuator weight of 1.1kg. From the results above, we developed key technology to construct high power force sensitive biped robots for practical use.

Report

(4 results)
  • 2013 Annual Research Report   Final Research Report ( PDF )
  • 2012 Research-status Report
  • 2011 Research-status Report
  • Research Products

    (32 results)

All 2014 2013 2012 2011 Other

All Journal Article (2 results) (of which Peer Reviewed: 2 results) Presentation (25 results) (of which Invited: 2 results) Remarks (5 results)

  • [Journal Article] 高バックドライバビリティを実現する油圧駆動システム2013

    • Author(s)
      中村仁彦,神永拓
    • Journal Title

      日本ロボット学会誌

      Volume: 第31巻,6号

    • NAID

      10031183141

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Hydraulic Actuation for Enhanced Backdrivability2013

    • Author(s)
      中村仁彦,神永拓
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 31 Issue: 6 Pages: 568-571

    • DOI

      10.7210/jrsj.31.568

    • NAID

      10031183141

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Presentation] モータの速度制御を用いた電気静油圧アクチュエータの力制御2014

    • Author(s)
      神永拓,康天毅,中村仁彦
    • Organizer
      ロボティクス・メカトロニクス講演会, 1A1-I04
    • Place of Presentation
      富山総合体育館
    • Related Report
      2013 Final Research Report
  • [Presentation] 足首関節機構のための直動型電気静油圧アクチュエータの開発2014

    • Author(s)
      大月智史,神永拓,中村仁彦
    • Organizer
      ロボティクス・メカトロニクス講演会,1P1-I06
    • Place of Presentation
      富山総合体育館
    • Related Report
      2013 Final Research Report
  • [Presentation] 質量負荷を用いた小型直動電気静油圧アクチュエータの動特性評価2014

    • Author(s)
      神永拓,康天毅,大月智史,中村仁彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      富山市総合体育館,富山県
    • Related Report
      2013 Annual Research Report
  • [Presentation] モータの速度制御を用いた電気静油圧アクチュエータの力制御2014

    • Author(s)
      神永拓,康天毅,中村仁彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      富山市総合体育館,富山県
    • Related Report
      2013 Annual Research Report
  • [Presentation] 慣性負荷による直動型電気静油圧アクチュエータの動特性評価2014

    • Author(s)
      大月智史,神永拓,中村仁彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      富山市総合体育館,富山県
    • Related Report
      2013 Annual Research Report
  • [Presentation] 足首関節機構のための直動型電気静油圧アクチュエータの開発2014

    • Author(s)
      大月智史,神永拓,中村仁彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      富山市総合体育館,富山県
    • Related Report
      2013 Annual Research Report
  • [Presentation] Evaluations on Contribution of Backdrivability and Force Measurement Performance on Force Sensitivity of Actuators2013

    • Author(s)
      H. Kaminaga, K. Odanaka, Y. Ando, S. Otsuki, and Y. Nakamura
    • Organizer
      Proceedings of International Conference on Intelligent Robots and Systems, pp.4472-4477(査読有)
    • Place of Presentation
      Tokyo, Japan
    • Related Report
      2013 Final Research Report
  • [Presentation] Design of an Ankle-Knee Joint System of a Humanoid Robot with a Linear Electro-Hydrostatic Actuator Driven Parallel Ankle Mechanism and Redundant Biarticular Actuators2013

    • Author(s)
      H. Kaminaga, S. Otsuki, and Y. Nakamura
    • Organizer
      Proceedings of International Conference on Humanoid Robots, pp.384-389(査読有)
    • Place of Presentation
      Atlanta, U.S.A.
    • Related Report
      2013 Final Research Report
  • [Presentation] 出力軸トルクセンサを用いたバックドライバブル静油圧アクチュエータの力感応制御2013

    • Author(s)
      神永拓,安藤雄太,大月智史,小田中浩平,中村仁彦
    • Organizer
      ロボティクスシンポジア講演予稿集, pp.28-34(査読有)
    • Place of Presentation
      かみのやま温泉
    • Related Report
      2013 Final Research Report
  • [Presentation] 直動型電気静油圧アクチュエータの二関節駆動方式を採用した脚機構の開発2013

    • Author(s)
      大月智史,神永拓,中村仁彦
    • Organizer
      ロボティクスシンポジア講演予稿集,pp.355-360(査読有)
    • Place of Presentation
      かみのやま温泉
    • Related Report
      2013 Final Research Report
  • [Presentation] Evaluations on Contribution of Backdrivability and Force Measurement Performance on Force Sensitivity of Actuators2013

    • Author(s)
      Hiroshi Kaminaga, Kohei Odanaka, Yuta Ando, Satoshi Otsuki, and Yoshihiko Nakamura
    • Organizer
      IEEE International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Tokyo Big Sight, Tokyo, Japan
    • Related Report
      2013 Annual Research Report
  • [Presentation] Design of Multi-DOF Joint Mechanism with Redundantly Driven Electro-Hydrostatic Actuators2013

    • Author(s)
      Hiroshi Kaminaga
    • Organizer
      Workshop "New Applications of Hydraulic Actuation for Fast, Powerful, Efficient, Compact, and Compliant Robots" of IEEE International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Tokyo Big Sight, Tokyo, Japan
    • Related Report
      2013 Annual Research Report
    • Invited
  • [Presentation] Development of Parallel Ankle Joint Mechanism with Linear Electro-Hydrostatic Actuators2013

    • Author(s)
      Satoshi Otsuki, Hiroshi Kaminaga, and Yoshihiko Nakamura
    • Organizer
      Workshop "New Applications of Hydraulic Actuation for Fast, Powerful, Efficient, Compact, and Compliant Robots" of IEEE International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Tokyo Big Sight, Tokyo, Japan
    • Related Report
      2013 Annual Research Report
  • [Presentation] Design of an Ankle-Knee Joint System of a Humanoid Robot with a Linear Electro-Hydrostatic Actuator Driven Parallel Ankle Mechanism and Redundant Biarticular Actuators2013

    • Author(s)
      Hiroshi Kaminaga, Satoshi Otsuki, and Yoshihiko Nakamura
    • Organizer
      IEEE International Conference on Humanoid Robots
    • Place of Presentation
      Atlanta, USA
    • Related Report
      2013 Annual Research Report
  • [Presentation] Design of Backdrivable Mechanisms with Electro-Hydrostatic Actuators2013

    • Author(s)
      Hiroshi Kaminaga and Yoshihiko Nakamura
    • Organizer
      Workshop "Design and Control of High-Performance Hydraulic Robots: Recent Advances and Perspectives", of IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Karlsruhe, Germany
    • Related Report
      2013 Annual Research Report
    • Invited
  • [Presentation] 電気静油圧アクチュエータのための外乱オブザーバ型 摩擦補償における出力軸運動量の使用2013

    • Author(s)
      神永拓,安藤雄太,中村仁彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      つくば国際会議場,茨城県
    • Related Report
      2013 Annual Research Report
  • [Presentation] 出力軸トルクセンサを用いたバックドライバブル静油圧アクチュエータの力感応制御2013

    • Author(s)
      神永拓,安藤雄太,大月智史,小田中浩平,中村仁彦
    • Organizer
      第18回ロボティクスシンポジア
    • Place of Presentation
      かみのやま温泉,山形県
    • Related Report
      2012 Research-status Report
  • [Presentation] Viscous Pump for Highly Backdrivable Electro-Hydrostatic Actuator2012

    • Author(s)
      H. Kaminaga, H. Tanaka, K. Yasuda, and Y. Nakamura
    • Organizer
      Proceedings of International Conference of Robotics and Automation, pp.3751-3756(査読有)
    • Place of Presentation
      St. Paul, USA.
    • Related Report
      2013 Final Research Report
  • [Presentation] エネルギ蓄積のための差動アキュムレータを備えた電気静油圧アクチュエータ2012

    • Author(s)
      神永拓,安藤雄太,田中宏和,中村仁彦
    • Organizer
      ロボティクス・メカトロニクス講演会, 2A1-E11
    • Place of Presentation
      アクトシティ浜松
    • Related Report
      2013 Final Research Report
  • [Presentation] Viscous Pump for Highly Backdrivable Electro-Hydrostatic Actuator2012

    • Author(s)
      Hiroshi Kaminaga, Hirokazu Tanaka, Kazuki Yasuda, and Yoshihiko Nakamura
    • Organizer
      IEEE International Conference of Robotics and Automation
    • Place of Presentation
      St. Paul, USA
    • Related Report
      2012 Research-status Report
  • [Presentation] エネルギ蓄積のための差動アキュムレータを備えた電気静油圧アクチュエータ2012

    • Author(s)
      神永拓,安藤雄太,田中宏和,中村仁彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      アクトシティ浜松,静岡県
    • Related Report
      2012 Research-status Report
  • [Presentation] 二関節筋型電気静油圧アクチュエータを用いた関節の冗長駆動2012

    • Author(s)
      大月智史,神永拓,中村 仁彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      アクトシティ浜松,静岡県
    • Related Report
      2012 Research-status Report
  • [Presentation] 高剛性トルクエンコーダを用いた電気静油圧駆動関節の高感度低インピーダンス制御2012

    • Author(s)
      小田中浩平,神永拓,大月智史,中村仁彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      アクトシティ浜松,静岡県
    • Related Report
      2012 Research-status Report
  • [Presentation] 低粘度作動流体を用いる粘性スク リューポンプの開発と電気静油圧アクチュエータの制御2012

    • Author(s)
      神永拓, 田中宏和, 安田和樹, 中村仁彦
    • Organizer
      第17回ロボティクス シンポジア, pp.92-97(査読有)
    • Place of Presentation
      山口県萩市
    • Related Report
      2011 Research-status Report
  • [Presentation] Screw Pump for Electro-Hydrostatic Actuator that Enhances Backdrivability2011

    • Author(s)
      Hiroshi Kaminaga, Hirokazu Tanaka, Kazuki Yasuda, Yoshihiko Nakamura
    • Organizer
      IEEE International Conference on Humanoid Robots 2011, pp.434-439 (査読有)
    • Place of Presentation
      Bled, Slovenia
    • Related Report
      2011 Research-status Report
  • [Remarks]

    • URL

      http://www.ynl.t.u-tokyo.ac.jp/~kaminaga/index.html

    • Related Report
      2013 Final Research Report
  • [Remarks] Home Page of Kaminaga

    • URL

      http://www.ynl.t.u-tokyo.ac.jp/~kaminaga/

    • Related Report
      2013 Annual Research Report
  • [Remarks] バックドライバビリティを備えたアクチュエータの開発

    • URL

      http://www.ynl.t.u-tokyo.ac.jp/research/backdrive/index-j.php

    • Related Report
      2012 Research-status Report
  • [Remarks]

    • URL

      http://www.ynl.t.u-tokyo.ac.jp/research/backdrive/index-j.php

    • Related Report
      2011 Research-status Report
  • [Remarks] に関連する研究内容が公開されている

    • Related Report
      2011 Research-status Report

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Published: 2011-08-05   Modified: 2019-07-29  

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