Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control.
Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control.
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DOI：
10.3389/frobt.2018.00051
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发表时间：
2018
影响因子：
3.4
通讯作者：
Semini C
中科院分区：
文献类型：
--
作者：
Barasuol V;Villarreal-Magaña OA;Sangiah D;Frigerio M;Baker M;Morgan R;Medrano-Cerda GA;Caldwell DG;Semini C
液压驱动是腿式机器人和机械手最广泛使用的电动机替代品。它通常因其高功率密度、鲁棒性和高带宽控制性能而被选择，这些性能允许实施力/阻抗控制。力控制对于与环境接触的机器人至关重要，因为它可以实现主动阻抗和全身控制，从而在已知和未知环境中实现更好的性能。本文介绍了Moog与IIT合作开发的液压集成智能执行器（伊萨），以及用于旋转液压执行器的智能歧管。伊萨由一个增材制造的主体组成，其中包含液压缸，伺服阀，压力/位置/负载/温度传感，过载保护以及用于控制和通信的电子设备。伊萨v2和伊萨v5是专门设计的，分别适合IIT的液压四足机器人HyQ和HyQ-REAL的腿。这些组件的关键特性通过以下方式解决了当今腿式机器人液压驱动的3个主要挑战：（1）内置控制器在集成电子设备内运行以实现高性能控制，（2）低泄漏伺服阀以减少能量损失，以及（3）由于金属增材制造而实现的紧凑性。本文的主要贡献是这些高度集成的液压伺服致动器，控制架构，允许高带宽的力控制和实验验证与应用特定的轨迹和测试的代表性动态模型的推导。我们相信，这是第一个为机器人提供增材制造，高度集成的液压智能执行器的工作。
Hydraulic actuation is the most widely used alternative to electric motors for legged robots and manipulators. It is often selected for its high power density, robustness and high-bandwidth control performance that allows the implementation of force/impedance control. Force control is crucial for robots that are in contact with the environment, since it enables the implementation of active impedance and whole body control that can lead to a better performance in known and unknown environments. This paper presents the hydraulic Integrated Smart Actuator (ISA) developed by Moog in collaboration with IIT, as well as smart manifolds for rotary hydraulic actuators. The ISA consists of an additive-manufactured body containing a hydraulic cylinder, servo valve, pressure/position/load/temperature sensing, overload protection and electronics for control and communication. The ISA v2 and ISA v5 have been specifically designed to fit into the legs of IIT’s hydraulic quadruped robots HyQ and HyQ-REAL, respectively. The key features of these components tackle 3 of today’s main challenges of hydraulic actuation for legged robots through: (1) built-in controllers running inside integrated electronics for high-performance control, (2) low-leakage servo valves for reduced energy losses, and (3) compactness thanks to metal additive manufacturing. The main contributions of this paper are the derivation of the representative dynamic models of these highly integrated hydraulic servo actuators, a control architecture that allows for high-bandwidth force control and their experimental validation with application-specific trajectories and tests. We believe that this is the first work that presents additive-manufactured, highly integrated hydraulic smart actuators for robotics.