Development of backdrivable hydraulic joint mechanism for knee joint of humanoid robots
Development of backdrivable hydraulic joint mechanism for knee joint of humanoid robots
复制标题
仿人机器人膝关节可反向驱动液压关节机构的研制
DOI：
10.1109/robot.2009.5152866
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Yoshihiko Nakamura
中科院分区：
文献类型：
--
作者：
H. Kaminaga;Junya Ono;Y. Nakashima;Yoshihiko Nakamura
机器人必须具有与人类相似的机械阻抗特性，以使安全有效接触。这种阻抗要求不仅适用于表面，还适用于致动机制。这项研究的目的是通过实现背景性来开发固有的灵活执行器。将一类称为电静脉执行器的液压致动物应用于人形机器人的膝关节，以同时满足柔韧性和大型扭矩输出。本文解释了执行器的性能评估和联合机制的设计概念的方法。还提出了电静电传播的数学模型。进行背景性，惯性修饰控制和对开发机制的合规性控制的评估。
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 backdrivability, inertia modification control, and compliance control of developed mechanism are performed.