Model Validation Using Ready-Made Components Toward Flexible Hydraulic Joints

抄録

This paper discusses model validation of hydraulic joints in the presence of unknown external forces using ready-made components. First, we review hydraulic cylinder dynamics with nonlinear pressure dynamics. Second, we design a controller that applies existing methods so that hydraulic joints have high backdrivability against unknown external forces. Third, we discuss the experimental and numerical responses of hydraulic joints in the presence of unknown external forces as the model validation. No custom-made cylinders, valves, or pipes are used in our experiments. Remarkably, the experimental and numerical responses were close to each other in the presence of unknown external forces.