| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2013: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2012: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Research Abstract |
Hydraulic robots are expected to perform construction, agriculture, rescue, and demining due to the advantages with respect to the power weight ratio in the general environment and the energy efficiency in the gravity environment. In this project, we propose a new impedance control by which the hydraulic robots can contact with human and objects without (or with less) damage. The proposed control can achieve not only robust stability but also robust structure which is a new concept that the closed-loop system can be another mechanical in the presence of parameter perturbations. The validity of the proposed control is confirmed by the numerical simulations and the experiments in 1-DOF or 2-DOF cases.
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