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JRM Vol.28 No.1 pp. 95-103
doi: 10.20965/jrm.2016.p0095
(2016)

Development Report:

Prototyping Force-Controlled 3-DOF Hydraulic Arms for Humanoid Robots

Kensuke Izawa and Sang-Ho Hyon

College of Science and Engineering, Ritsumeikan University
1-1-1 Nojihigashi, Kusatsu-shi, Shiga 525-8577, Japan

Received:
April 8, 2015
Accepted:
December 28, 2015
Published:
February 20, 2016
Keywords:
hydraulic robot, dual arm, force/torque control, singular perturbation
Abstract

Prototyping Force-Controlled 3-DOF Hydraulic Arms for Humanoid Robots

Hydraulic dual arm robot prototype

This paper reports on a hydraulic dual arm robot developed as a rapid prototype for our hydraulic humanoid robot. The lightweight arms (4 kg each) have three joints driven by hydraulic linear servo actuators that can achieve higher torque and speed than human arms. A double four-bar linkage provides a wide range of motion (210°) to the shoulder joint. Each joint has torque controllability that is fully utilized for compliant whole-body motion control tasks. Based on singular perturbation analysis, we discuss how damping on the joints is actively modulated by hydraulic force feedback control, which is then utilized in our passivity-based task-space force control scheme. The effectiveness of the proposed system is experimentally evaluated through zero-force tracking gravity compensation with a 10 kg payload and object manipulation tasks.

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Last updated on Nov. 20, 2017