Flow Compensation for Hydraulic Direct-Drive System with a Single-rod Cylinder Applied to Biped Humanoid Robot
J. Shimizu,T. Otani,H. Mizukami,K. Hashimoto,A. Takanishi,J. Shimizu,T. Otani,H. Mizukami,K. Hashimoto,A. Takanishi
Biped robots require massive power on each leg while walking, hopping, and running. We have developed a flow-based control system-called hydraulic direct drive system- that can achieve high output while avoiding spatial limitations. To implement the proposed system with simple equipment configuration, a pump and single-rod cylinder are connected in a closed loop. However, because compensation for ...
