油圧4脚歩行ロボットにおける比例弁とサーボ弁の比較実験

抄録

In recent years, the improved response of hydraulic directional flow control valves and the miniaturization and weight reduction of hydraulic actuators have facilitated their application to robots, and research and development of hydraulically driven robots has been actively conducted. Hydraulic robots have large payload and ability to carry and tow heavy objects by taking advantage of the high F/M ratio of hydraulic-driven actuators. However, to handle hydraulics, various hydraulic components must be included, often making downsizing, weight reduction, and actuators a challenging issue. In this study, using the hydraulically driven robot "Tough Runner," which has been developed with the goal of independent long-distance walking, we conducted operation experiments in which control valves were integrated into the robot, and compared the results of the applicable range of the control valves based on the results.