ICRA'09 Paper Abstract


Paper FrA1.5

Kaminaga, Hiroshi (The University of Tokyo), Ono, Junya (The University of Tokyo), Nakashima, Yusuke (The University of Tokyo), Nakamura, Yoshihiko (University of Tokyo)

Development of Backdrivable Hydraulic Joint Mechanism for Knee Joint of Humanoid Robots

Scheduled for presentation during the Regular Sessions "Legged Robots and Humanoid Locomotion - I" (FrA1), Friday, May 15, 2009, 09:50−10:10, MainHall

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Mechanism Design, Humanoid Robots


Robots must have similar mechanical impedance characteristics to humans in order to make safe and efficient contact. This impedance requirement applies not only to the surface but also to the actuation mechanisms. The objective of this research is to develop inherently flexible actuator by realizing backdrivability. A class of hydraulic actuation called electro-hydrostatic actuator was applied to knee joint in humanoid robots to satisfy flexibility and large torque output simultaneously. This paper explains the methodology of performance evaluation of actuators and design concept of joint mechanism. Mathematical model of electro-hydrostatic transmission is also presented. Evaluation of ackdrivability, inertia modification control, and compliance control of developed mechanism are performed.



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