Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 54th Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : F131
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Host: Institute of Systems, Control and Information Engineers

Force Transmission Principle and Intrinsic Backdrivability of Actuators
Series Dissipative Hydraulic Actuator and its Application to Robot Hand
*Hiroshi Kaminaga, Tomoya Amari, Yukihiro Katayama, Yoshihiko Nakamura
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Keywords: backdrivability, electro-hydrostatic actuator, impedance control, robot hand
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Abstract
To realize force sensitive robots, intrinsic backdrivability of the actuators must be improved. In this paper, we propose concept of series elastic and series dissipative approach toward backdrivable actuator design. Realization of series dissipative actuator with hydrostatic actuation is also explained. Actual series dissipative actuators are fabricated and applied to an anthropomorphic robot hand.
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© 2010 The Institute of Systems, Control and Information Engineers
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