Abstract
This paper reports on a hydraulic dual arm robot, which is designed for the prototype of the arms for our humanoid robot RL-H1. The both arms have three joints driven by hydraulic linear servo actuators, which achieve higher torque and speed than those of humans. A double four-bar linkage provides wide range of motion (210 deg) for shoulder joint. Each joint has torque controllability, which is fully utilized for compliant whole-body motion control tasks. The paper shows some preliminary experimental results including gravity compensation under 5.5 kg payloads and task-space force control for object manipulation.
