2013 Fiscal Year Final Research Report
Development of High Power Hydraulic Legged Mechanism with Bi-Articular Actuator and Parallel Elastic Component
| Project/Area Number |
23760219
|
|---|
| Research Category |
Grant-in-Aid for Young Scientists (B)
|
| Allocation Type | Multi-year Fund |
|---|
| Research Field |
Intelligent mechanics/Mechanical systems
|
|---|
| Research Institution | The 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
|
| 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 |
|---|
| 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.
|
