Abstract
Flexible actuation is required for robot actuators used in environment with uncertainties. Conventionally, flexibility is realized either by control or mechanical elasticity. These methods have following problems; lack of high responsiveness and lack of high stiffness. To solve these problems, backdrivability is necessary for robot actuators. Backdrivablity is obtained by using hydrostatic transmission. But hydraulic circuit with hydrostatic transmission may have cavitation which decrease the control performance. In this paper, first anti-cavitation mechanism is presented. Next, the performance of miniature robot actuator with anti-cavitation mechanism is shown.
