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A Study of Hydraulic Actuator Based On Electro Servo Valve For A Walking Robot
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  • Journal title : Journal of Drive and Control
  • Volume 13, Issue 2,  2016, pp.26-33
  • Publisher : Korea Society of Fluid Power & Construction Equipments
  • DOI : 10.7839/ksfc.2016.13.2.026
 Title & Authors
A Study of Hydraulic Actuator Based On Electro Servo Valve For A Walking Robot
Cho, Jung San;
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This paper describes of a mathematical and real experimental analysis for a walking robot which uses servo valve driven hydraulic actuator. Recently, many researchers are developing a walking robot based on hydraulic systems for the difficult and dangerous missions such as walking in the rough terrain and carrying a heavy load. In order to design and control a walking robot, the characteristics of the hydraulic actuators in the joint through the view point of walking such as controllability and backdrivability must be analyzed. A general mathematical model was used for analysis and proceeds to position and pressure changes characteristic of the input and backdrivability experiment. The result shows the actuator is a velocity source, had a high impedance, the output stiffness is high in contact with the rigid external force. So stand above the controller and instruments that complement the design characteristics can be seen the need to apply a hydraulic actuator in walking robot.
Walking Robot;Hydraulic Robot;Hydraulic Actuator;Servo Valve;System Analysis;
 Cited by
재난상황시 초동대응과 복구지원을 위한 로봇 하부체 메커니즘 설계 및 연구,신동빈;고연호;서우석;홍대희;

드라이브 ㆍ 컨트롤, 2016. vol.13. 4, pp.89-94
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