Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 08, 2016 - June 11, 2016
Robots using hydraulic actuators perform in environment cohabiting with humans. Flexible operation and accurate detection of the external force are required to robots in order to work in safe. Backdrivability, which is an important characteristic to assure safety can be improved by using electro-hydrostatic actuators (EHAs). Although external force is estimated by pressure sensors, estimated force includes energy loss. In this paper, a reaction force observer is applied to an EHA. The proposed reaction force observer considers the energy loss in the non-linear elements, such as friction and backlash. In addition, experimental results showed an improvement of the reaction force estimation accuracy.
