Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion

Hideki Mizukami, Takuya Otani, Juri Shimizu, Kenji Hashimoto, Masanori Sakaguchi, Yasuo Kawakami, Hun ok Lim, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

Abstract

We are developing the biped humanoid robot WATHLETE-1 (Waseda ATHLETE humanoid No.1) that has the same mass arrangement, link ratio, and output characteristics as humans. It is not possible to mount high-power electromagnetic motors and mechanical transmissions that satisfy the hip joint output at running because its weight makes it impossible to realize human body characteristics. To realize the characteristics of the human body, we adopted a hydraulic drive system that has a more advanced design than a mechanical transmission mechanism, that concentrates on the joints, and that can distribute output by splitting and merging oil. We propose a hydraulic circuit that improves the output of the actuator by connecting two hydraulic direct drive systems (HDDs) in parallel, independently mounted on the ankle and the hip joints using proportional valves. As a result, it has been confirmed that hip joint speed was improved by 200% compared to a single HDDs and with the potential of simulating the hip joint output required for a human running at 2.0 m/s.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer Science and Business Media Deutschland GmbH
Pages34-42
Number of pages9
DOIs
Publication statusPublished - 2021

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume601
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706

Keywords

  • Biped robot
  • Hydraulics
  • Parallel connection
  • Running

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