Trends in hydraulic actuators and components in legged and tough robots: a review

Suzumori, Koichi; Faudzi, Ahmad Athif Mohd

doi:10.1080/01691864.2018.1455606

Cited by 68 publications

(25 citation statements)

References 64 publications

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“…Electrostatic actuation is commonly used for micro-electro-mechanical systems (MEMS), where micro-sized components are driven by the application of a voltage potential [8]. Hydraulic actuation is commonly utilized in larger systems, such as automated industrial systems and large robots, due to the large output capacity and robust design [9]. The HASEL actuator combines these actuation systems to create a scalable and compliant, actuator with large deformation output.…”

Section: Introductionmentioning

confidence: 99%

A physics-based modeling of a hydraulically amplified electrostatic actuator

Washington

Olsen

2022

J. Phys. Commun.

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The focus of this study is to understand the physical phenomenon of the liquid-based electroactive polymer (EAP) actuator known as the Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuator. Specifically, this study provides data in several areas, including the deformation of the film material, the dynamics of the dielectric liquid, and the electrical conditions within the actuator body. A two-dimensional model was developed in the finite element software, COMSOL Multiphysics, to create a generalized physics-based framework that describes the actuation mechanism. Much of the predictive data agreed well with the experimental data, such as the electrode pull-in occurring at ~4.5 kV and the displacement-voltage behavior. More importantly, the model also predicts basic fluid dynamic data, such as velocity (which reached a maximum of 0.7 m/s), the pressure of the fluid within the enclosed film, and the motion of the fluid, which have not been found in previous models. The model also predicts phenomenon seen in experimentation, such as fluid pockets under the electrodes and the interesting displacement-voltage behavior. Everything considered, the model connects the electrical, mechanical, and fluid systems, thus providing more detail about the dynamics of the actuator system and facilitating a shift in the current approach to modeling and designing these actuators.

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Section: Introductionmentioning

confidence: 99%

A physics-based modeling of a hydraulically amplified electrostatic actuator

Washington

Olsen

2022

J. Phys. Commun.

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“…Over the past decades, multilegged robots have gained more and more attention for their ability to traverse nonstructural environments and uneven terrains like mammals or insects. Furthermore, they not only can play an important role in transporting materials on flat or rough terrain but also can execute many dangerous missions alone or in cooperation with humans, such as outdoor exploration, disaster rescue, and dangerous substance detection [1]. Compared with the electric actuators, hydraulic actuation can provide extremely high power density, fast dynamic response, large force output, and strong robustness to impacts [2], which are widely used in hydraulic robotic manipulators [3].…”

Section: Introductionmentioning

confidence: 99%

Design and Development of an Embedded Controller for a Hydraulic Walking Robot WLBOT

Liu

Zhang²,

Jin

et al. 2021

Applied Sciences

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In order to meet the requirement for the real-time of the hydraulic walking robot (WLBOT) and the stability of its movement, an embedded controller is proposed, which takes charge of multi-sensor information processing and signal output of the servo valve. The controller is capable of receiving control command and sending processed information while communicating with an embedded single board computer PCM-3365 via Control Area Network (CAN) bus at a 200 Hz frequency. In this paper, an appropriate interrupt cycle is selected and a 2 kHz high-speed control loop is run after we research the relationship between analog-to-digital converter direct memory access (ADC–DMA) interrupt cycle, data volume, and sampling rate. Significantly, the control strategy of WLBOT joint is introduced and a proportional-integral-derivative (PID) compound controller with velocity feedforward compensation (VFC) is realized. Meanwhile, the Chebyshev filtering algorithm is utilized to attenuate the vibration noise of joint signals. What’s more, an impedance controller is designed to gain better locomotion behavior and compliance in joint force control. Finally, the joint angle tracking and robot walking experiments are implemented, where the feasibility of the design and the validity of the control algorithm is verified. The results show that the PID velocity feedforward compensation controller can reduce the maximum tracking error by 39.13% and 71.31% in the knee and hip joint and the impedance control can reduce the standard deviation (SD) of the foot force by 36.06% and 72.79%.

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“…Recently, the soft actuator is one of the promising technologies with some remarkable achievements in bio-robotics [1], medical applications [2], wearable devices [3] and industrial applications [4]. Soft actuator offers safer robotics structure, lightweight, high flexibility and high power to weight ratio compared to traditional robotics [5,6].…”

Section: Introductionmentioning

confidence: 99%

Segmentation of a Soft Body and its Bending Performance using Thin McKibben Muscle

Mohamed

Hanif

Faudzi

2020

IJAME

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In recent years, soft actuator has been extensively developed in robotic research. This type of robot is expected to work with human with its flexible and adaptable advantage. The actuator material is soft, light, safe and high compliant. Due to these factors, soft McKibben is of interest as an actuator for this research for bending application. This paper introduces a variant bending analysis of a soft body manipulated using soft McKibben actuators. A series of 1.80 mm width with the length of 120.0 mm McKibben actuator is used to control the bending motion. The design consists of four McKibben actuators arranged in parallel and compacted in a soft body. The bending behavior was evaluated using an experimental test with a variety of pneumatic input pressure and length section on the actuator. The experiment showed that the bending angle was influenced by the segmentation length of the actuator, where the segmentation length and increased input pressure also allow more bending on the actuator. The actuator with lot of section gave more bending response compared to the actuator with lesser section. With the performance exhibited from this study, McKibben actuator can be applied in a wider use for continuum manipulator.

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Trends in hydraulic actuators and components in legged and tough robots: a review

Cited by 68 publications

References 64 publications

A physics-based modeling of a hydraulically amplified electrostatic actuator

A physics-based modeling of a hydraulically amplified electrostatic actuator

Design and Development of an Embedded Controller for a Hydraulic Walking Robot WLBOT

Segmentation of a Soft Body and its Bending Performance using Thin McKibben Muscle

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