Development of high-power and backdrivable linear electro-hydrostatic actuator

Kaminaga, Hiroshi; Otsuki, Satoshi; Nakamura, Yoshihiko

doi:10.1109/humanoids.2014.7041481

Cited by 26 publications

(6 citation statements)

References 14 publications

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“…The most recent full-size humanoids include Hydra [66] and TaeMu [67], which differ in the actuation scheme. TaeMu employs the typical central pump scheme with servo valves to regulate the pressure across the robot, where Hydra uses electrohydrostatic actuators (EHAs) [68], each with its own pump. The solution of Hydra combines benefits from both electric and hydraulic actuation: backdrivability, impact resistance, controllability, and power density, but is yet to be optimised for size and weight.…”

Section: Actuationmentioning

confidence: 99%

Bipedal Humanoid Hardware Design: a Technology Review

Ficht

Behnke

2021

Curr Robot Rep

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Purpose of Review As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available technologies is necessary. This article intends to provide an analysis on the established approaches and contrast them with emerging ones. Recent Findings A clear shift in the recent design features of humanoid robots is developing, which is supported by literature. As humanoid robots are meant to leave laboratories and traverse the world, compliance and more efficient locomotion are necessary. The limitations of highly rigid actuation are being tackled by different research groups in unique ways. Some focus on modifying the kinematic structure, while others change the actuation scheme. With new manufacturing capabilities, previously impossible designs are becoming feasible. Summary A comprehensive review on the technologies crucial for bipedal humanoid robots was performed. Different mechanical concepts have been discussed, along with the advancements in actuation, sensing, and manufacturing. The paper is supplemented with a list of the recently developed platforms along with a selection of their specifications.

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Section: Actuationmentioning

confidence: 99%

Bipedal Humanoid Hardware Design: a Technology Review

Ficht

Behnke

2021

Curr Robot Rep

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“…The most recent full-size humanoids include Hydra [66] and TaeMu [67], which differ in the actuation scheme. TaeMu employs the typical central pump scheme with servo valves to regulate the pressure across the robot, where Hydra uses Electro-Hydrostatic Actuators (EHAs) [68], each with its own pump. The solution of Hydra combines benefits from both electric and hydraulic actuation: backdrivability, impact resistance, controllability and power density, but is yet to be optimised for size and weight.…”

Section: Actuationmentioning

confidence: 99%

Bipedal Humanoid Hardware Design: A Technology Review

Ficht¹,

Behnke²

2021

Preprint

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Purpose of ReviewAs new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available technologies is necessary. This article intends to provide an analysis on the established approaches and contrast them with emerging ones. Recent Findings A clear shift in the recent design features of humanoid robots is developing, which is supported by literature. As humanoid robots are meant to leave laboratories and traverse the world, compliance and more efficient locomotion is necessary. The limitations of highly rigid actuation are being tackled by different research groups in unique ways. Some focus on modifying the kinematic structure, while others change the actuation scheme. With new manufacturing capabilities, previously impossible designs are becoming feasible. Summary A comprehensive review on the technologies crucial for bipedal humanoid robots was performed. Different mechanical concepts have been discussed, along with the advancements in actuation, sensing and manufacturing. The paper is supplemented with a list of the recently developed platforms along with a selection of their specifications.

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“…With the development of EHAs, the application scenario has expanded from aerospace into other industries such as robot, artificial limb, etc. [7][8][9]. There have been explorations and innovations in EHA design and composition.…”

Section: Introductionmentioning

confidence: 99%

Design, Analysis, and Verification of an Electro- Hydrostatic Actuator for Distributed Actuation System

Zhang

Zimeng

2020

Sensors

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In order to provide a simplified and low-cost solution of the terminal for a distributed actuation system, this paper proposes an electro-hydrostatic actuator (EHA) based on the linear drive principle. The proposed actuator is directly driven by a linear pump with a collaborative rectification mechanism, whose performance relies on the collaboration of the internal two units. A pair of linear oscillating motors are employed to drive the two pump units respectively. The control of the actuator is based on the modulation of the oscillating amplitude, frequency, and phase difference of the two motors. The advantage of this actuator is that no more valve control is needed to rectify the linear pump besides the high efficiency of the direct pump drive. In this paper, both schematic and detailed structure of the actuator is presented. The kinematic and dynamic characteristics are analyzed and modeled, based on which the control method is proposed. The experiments verify the validity of the actuator structure and control.

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Development of high-power and backdrivable linear electro-hydrostatic actuator

Cited by 26 publications

References 14 publications

Bipedal Humanoid Hardware Design: a Technology Review

Bipedal Humanoid Hardware Design: a Technology Review

Bipedal Humanoid Hardware Design: A Technology Review

Design, Analysis, and Verification of an Electro- Hydrostatic Actuator for Distributed Actuation System

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