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Design of Robust and Force Sensitive Hydraulic Actuator for Humanoid Robot Systems Hiroshi Kaminaga, The University of Tokyo

Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

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Page 1: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Design of Robust and Force Sensitive Hydraulic Actuator for 

Humanoid Robot Systems

Hiroshi Kaminaga,The University of Tokyo

Page 2: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Motivation

HUMANOIDS 2014 Workshop 2

RobustnessHigh‐Power Output

Safely Interact with Environment

Force Sensitivity

Atlas, Petman, Bigdog, HyQ, CBDLR BipedTorque Sensing

Hydraulics

Backdrivability Pressure Control

Produce Sufficient Force for Meaningful Tasks

Hydrostatic Actuation

2014/11/18

Elasticity COMANDLR Hand‐Arm

High‐Power Electronics and 

coolingSHCAFT

Some functionalities required for robots to become practical

Page 3: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Controller Actuator /Transmission

Robot Mechanism

Output

ForceCommandReference State

Sensors

Force Controller

2014/11/18 HUMANOIDS 2014 Workshop 3

Force sensing

Force sensitive robots = robots that can react to force with high sensitivity

Power capacity

Page 4: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Are they equivalent?

,, ,

Rigid body equation of motion with feedback

Real robot

Controller,

, ,

Joint wise high‐gain feedback Reject disturbance, model error and dynamics of the robot mechatronics

2014/11/18 HUMANOIDS 2014 Workshop 4

Page 5: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Examples of difficult force control

Negative Work

Force measurement based admittance control

2014/11/18 HUMANOIDS 2014 Workshop 5

Impact

Page 6: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Controller Actuator /Transmission

Robot Mechanism

Output

ForceCommandReference State

Sensors

Force Controller

2014/11/18 HUMANOIDS 2014 Workshop 6

Force sensing

Force sensitive robots = robots that can react to force with high sensitivity

Power capacity Backdrivability

Feel the force Backdrivable

Page 7: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Force sensitivity, force measurement, and backdrivability

Force sensitivity

Passive character Active character

backdrivability Torque sensingEHA[Humanioids2007]

SEA[Pratt et al. 1995]

2014/11/18 HUMANOIDS 2014 Workshop 7

Page 8: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Backdrivability

Actuator can be driven from output axis

2014/11/18 HUMANOIDS 2014 Workshop 8

Page 9: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Electro‐Hydrostatic Actuator

• Displacement control type hydraulics• Hydraulics as gears

Low friction in speed reduction No valve friction

Force estimation with pressure sensors

Whole actuator become backdrivable

2014/11/18 HUMANOIDS 2014 Workshop 9

Page 10: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Model of EHAs

Pump

Hydraulic Motor

[ICRA 2009]

Subscript 1: pump sideSubscript 2：output side

2014/11/18 HUMANOIDS 2014 Workshop 10

Page 11: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Abstract Model of Backdrivable Actuators

• Series Elastic ActuatorJ1 J2

K=[kij]

J1 J2

D=[dij]

Dynamics decoupling• Electro‐Hydrostatic Actuators

[ICRA2010]

Series damping actuator [Chew et al. 2004]

2014/11/18 HUMANOIDS 2014 Workshop 11

Page 12: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

How EHAs work

Trochoid pumpDouble vane motor

2014/11/18 HUMANOIDS 2014 Workshop 12

Page 13: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Previous Studies on EHA

[Humanoids2007]

[Humanoids2009]

[ICRA2009]

Backdrivability

Scalability

System Integration

2014/11/18 HUMANOIDS 2014 Workshop 13

[IROS2011] [IROS2013]

Page 14: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Recent Design of Rotary EHA

[Odanaka 2012]

2014/11/18 HUMANOIDS 2014 Workshop 15

Page 15: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

2014/11/18 HUMANOIDS 2014 Workshop 16

Page 16: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Recent Design of Rotary EHA

[Odanaka 2012]

2014/11/18 HUMANOIDS 2014 Workshop 17

Page 17: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Linear EHA

2014/11/18 HUMANOIDS 2014 Workshop 18

Related work: S. Alfayad et al. 2011

To be presented Nov. 20

Item Value

Max. Force 1500N

Max. Speed 0.27m/s

Pos. Control BW >2Hz

Stroke 50mm

Weight (Pump+Cyl.) 0.35+0.44kg

Page 18: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Cluster of small EHAs

2014/11/19 HUMANOIDS 2014 19

Pump heads

Integrated auxulalycircuits

Casted cylindermanifold

accumulator

Cylinders

Protecting reliefvalves

Pressure chargingcircuit

pumps

Kang et al. To be presented Nov. 19

Page 19: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Linear EHA Frequency Response Test

2014/11/18 HUMANOIDS 2014 Workshop 20

Page 20: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Cluset EHA Frequency Response Test

2014/11/18 HUMANOIDS 2014 Workshop 21

Page 21: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

11 Dof Tendon Driven Hand with 12 active tendons

Treratanakulwong et al. (ICRA2014)

Coupling mechanism for fingertip pinchingCarpal tunnel mechanism with no sliding contact between the tendons and structure

Treratanakulwong et al., 2014

A Robot Hand Driven by Hydraulic Cluster Actuators

2014/11/19 HUMANOIDS 2014 22

Wire Driven Underactuated Hand

Page 22: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Hand in Action

2014/11/19 HUMANOIDS 2014 23

Page 23: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Friction Compensation

2014/11/18 HUMANOIDS 2014 Workshop 24

Page 24: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Force Control of EHA

2014/11/18 HUMANOIDS 2014 Workshop 25

Page 25: Design of Robust and Force Sensitive Actuator for …Abstract Model of Backdrivable Actuators • Series Elastic Actuator J 1 J 2 K=[k ij] J 1 J 2 D=[d ij] •Electro‐Hydrostatic

Prof. Y. NakamuraJ. Ono, T. Amari, K. Odanaka, T. Treratanakulwong, S. Otsuki, T. Kang, R. Masumura, M. Komagata, T. Ishikawa, S. Sato，S. YoritaK. Ayusawa, T. Yamamoto, T. Kawakami, Y. Katayama, H. Tanaka, Y. Niwa, P.H. Phan, Y. Shimoyama, K. Yasuda, Y. Ando, and Y. Ishiguro

Special Thanks To

Hiroshi Kaminaga, Assistant Prof.The University of [email protected]‐tokyo.ac.jp

2014/11/18 HUMANOIDS 2014 Workshop 27


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