Results 151 to 160 of about 250,590 (188)

Modeling and Identification of an Electro-Hydrostatic Actuator

IFAC Proceedings Volumes, 2010
Abstract The aim of this paper is to develop an accurate model of an electro-hydrostatic actuator (EHSA) and to estimate the model parameters. The physical behavior of each components has been analyzed and a linear model has been obtained. Then, the cylinder friction phenomenon and the cylinder chambers volume variations have been considered and a ...
BELLOLI, DAMIANO, PREVIDI, FABIO, SAVARESI, SERGIO MATTEO, A. Cologni, M. Zappella   +4 more
openaire   +2 more sources

Viscous pump for highly backdrivable Electro-Hydrostatic Actuator

2012 IEEE International Conference on Robotics and Automation, 2012
It is widely acknowledged that the actuator's intrinsic backdrivability is important in realizing a force sensitive behavior. It is desirable to realize such actuator with electric motor that is advantageous from power-to-weight ratio and controllability point of view.
Hiroshi Kaminaga, Hirokazu Tanaka, Kazuki Yasuda, Yoshihiko Nakamura   +3 more
openaire   +2 more sources

Screw pump for Electro-Hydrostatic Actuator that enhances backdrivability

2011 11th IEEE-RAS International Conference on Humanoid Robots, 2011
Force sensitivity and backdrivability are vital functionality of actuators to be used in robots that physically interact with humans. Electro-Hydrostatic Actuator (EHA) is a type of a hydraulic actuator with backdrivability. To improve backdrivability of an EHA, reduction of friction, especially static friction is important. This, however, is difficult
Hiroshi Kaminaga, Hirokazu Tanaka, Kazuki Yasuda, Yoshihiko Nakamura   +3 more
openaire   +1 more source

Test research of electro-hydrostatic actuator

AIP Conference Proceedings, 2019
Electro-hydrostatic actuator is a new type of actuator with high integration and complex structure. This paper introduces the working principle of the electro-hydraulic actuator, researches the test project of a certain type of product, and designs the test hydraulic system according to the test items and requirements, explains the test method in ...
Lisheng Yin, Keli Xing
openaire   +1 more source

Analysis on rigidity of hydraulic hoses for electro-hydrostatic actuators

IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017
Electro-hydrostatic actuators (EHAs) are said to have potential as actuators for robotic systems because they have high power-to-weight ratio, compact, and energy saving systems compared to general hydraulic systems. However, modeling approaches and analyses on dynamic characteristics have not been quite concrete yet. In order to expand EHAs' potential
Kenta Tsuda, Koudai Umeda, I. Kota, Sho Sakaino, Toshiaki Tsuji   +4 more
openaire   +1 more source

An Integrated, Back-Drivable Electro-Hydrostatic Actuator for a Knee Prosthesis

2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020
This paper focuses on the analysis, development and experimental evaluation of an electro-hydrostatic actuator for knee prosthetic devices. In contrast to traditional actuation, the goal is to obtain a highly-integrated and back-drivable actuator with both active and regenerative capabilities.
Tessari F., Galluzzi R., Tonoli A., Amati N., Milandri G., Laffranchi M., De Michieli L.   +6 more
openaire   +1 more source

Research on the energy-regulation electro-hydrostatic actuator

2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC), 2016
This paper describes the benefits of the common electro-hydrostatic actuators(EHAs), the substitutes of common hydraulic actuators, and also highlights the motor heating problem. It proposes a energy-regulation EHAs which can not only insulate motor heating status caused by cis-load, but also improve its efficiency.
null Yaoxing Shang, null Shuhan Ke, null Zongxia Jiao   +2 more
openaire   +1 more source

Development of high-power and backdrivable linear electro-hydrostatic actuator

2014 IEEE-RAS International Conference on Humanoid Robots, 2014
Actuator with high power output and durability is a important factor in developing humanoid robots with high mobility. Development of such actuator with force sensitivity is a challenge. We developed linear electro-hydrostatic actuator (EHA) to realize high-power output, high durability, and backdrivability.
Hiroshi Kaminaga, Satoshi Otsuki, Yoshihiko Nakamura   +2 more
openaire   +1 more source

Compliant Biped Locomotion of Hydra, an Electro-Hydrostatically Driven Humanoid

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018
The backdrivability of joints is a critical requirement for the robots that perform tasks in uncertain environments. While series elastic actuators are intrinsically backdrivable, their control bandwidth is limited by the low resonant frequency of the elastic component.
Tianyi Ko, Ko Yamamoto 0001, Kazuya Murotani, Yoshihiko Nakamura   +3 more
openaire   +2 more sources

Design of a electro-hydrostatic actuator controller based on disturbance observer

IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017
According to the nonlinearity and uncertainty of the electro-hydraulic actuator (EHA) system, a feed-forward compensation variable structure control (VSC) algorithm based on disturbance observer (DO) is proposed, by setting the DO parameters, feed-forward compensation for the observed disturbance D(k) is performed. The controller switching function and
Yuqing Zhu 0004, Liang Bo, Yuren Li, Zeqing Liu, Jin Yang   +4 more
openaire   +1 more source