Results 181 to 190 of about 4,207 (222)

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   +1 more source

Backdrivability analysis of Electro-Hydrostatic Actuator and series dissipative actuation model

2010 IEEE International Conference on Robotics and Automation, 2010
Although backdrivability is recognized as an important property of actuators, this term is often used without clear definition. In order to design mechanisms with advanced controllability, it is important to understand the fundamental mechanism of backdrivability.
Hiroshi Kaminaga, Tomoya Amari, Yukihiro Katayama, Junya Ono, Yuto Shimoyama, Yoshihiko Nakamura   +5 more
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

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

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

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

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

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

Feedback linearization PID control for electro-hydrostatic actuator

2011 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce (AIMSEC), 2011
To solve the problem induced by serious nonlinear characteristic of the electro-hydrostatic actuator (EHA), and realize exact control of EHA, the mathematical model of EHA was derived, an exact linearization control law was obtained via nonlinear coordinate transformation and state feedback.
null Qian Zhang, null Bingqiang Li
openaire   +1 more source

A matrix converter based electro-hydrostatic actuator

IEE Seminar Matrix Converters, 2003
This paper describes the design, construction and testing of a matrix converter permanent magnet motor drive for an electro-hydrostatic actuator (EHA) for aircraft use. The converter has been built using a 1200 volt, 35 Amp Eupec Matrix Converter module.
openaire   +1 more source