로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제16권2호
  • /
  • Pages.86-93
  • /
  • 2021
  • /
  • 1975-6291(pISSN)
  • /
  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
권호 표지
DOI QR코드

DOI QR Code

유압 구동식 이족 로봇의 구동을 위한 탑재식 유압 파워 유닛의 에너지 효율적 제어

Energy Efficient Control of Onboard Hydraulic Power Unit for Hydraulic Bipedal Robots

  • 투고 : 2020.11.30
  • 심사 : 2021.03.23
  • 발행 : 2021.05.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper proposes a controller to regulate the supply pressure of the hydraulic power unit (HPU) for driving a bipedal robot. We establish flow rate models for charging accumulator, actuating joints and leaking from actuators and spool valves. This determines the pump driving motor speed to satisfy the demanded flow rate for operating the bipedal robot without the energy loss caused by the bypass through a pressure regulating valve. We apply proposed controller to an onboard HPU mounted on top of bipedal robot platform with twelve degrees of freedom. We implement air-walking motion and squat motion which require variable flow rate to the bipedal robot. Through this experiment, the energy efficiency of proposed controller was verified by comparing the electric energy consumed when the controller was applied and when the pump operated at constant speed. We also shows the capability of the HPU's control performance to regulate supply pressure.

키워드

과제정보

This work was supported by Development of core technology for advanced locomotion/manipulation based on high-speed/power robot platform and robot intelligence [10070171] project from Ministry of Trade, Industry and Energy of the Republic of Korea

참고문헌

  1. E. Guglielmino, C. Semini, Y. Yang, D. Caldwell, H. Kogler, and R. Scheidl, "Energy Efficient Fluid Power in Autonomous Legged Robotics," Dynamic Systems and Control Conference, California, USA, pp. 847-854, 2009, DOI: 10.1115/DSCC2009-2522.
  2. S. Peng, H. Kogler, E. Guglielmino, R. Scheidl, D. T. Branson, and D. G. Caldwell, "The use of a hydraulic DC-DC converter in the actuation of a robotic leg," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 5859-5864, 2013, DOI: 10.1109/IROS.2013.6697205.
  3. G. Wu, J. Yang, J. Shang, Z. Luo, T. Zou, and D. Fang, "On the Design of Energy-Saving Fluid Power Converter," IEEE Access, vol. 8, pp. 27769-27778, 2020, DOI: 10.1109/ACCESS.2020.2971669.
  4. Y. Xue, J. Yang, J. Shang, and Z. Wang, "Energy efficient fluid power in autonomous legged robotics based on bionic multi-stage energy supply," Advanced Robotics, vol. 28, no. 21, pp. 1445-1457, 2014, DOI: 10.1080/01691864.2014.946447.
  5. J. Wei, K. Guo, J. Fang, and Q. Tian, "Nonlinear Supply Pressure Control for a Variable Displacement Axial Piston Pump," Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 229, no. 7, pp. 614-624, 2015, DOI: 10.1177/0959651815577546.
  6. K. Amundson, J. Raade, N. Harding, and H. Kazerooni, "Hybrid hydraulic-electric power unit for field and service robots," 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, AB, Canada, 2005, DOI: 10.1109/IROS.2005.1545452.
  7. A. Akers, M. Gassman, and R. Smith, "Steady state modeling," Hydraulic Power System Analysis, CRC Press, 2006, ch. 3, pp. 31-76, DOI: 10.1201/9781420014587.
  8. M. Jelali and A. Kroll, "Physically based modelling," Hydraulic Servo-systems, Springer Nature, 2012, ch. 4, pp. 53-95, DOI: 10.1007/978-1-4471-0099-7.
  9. 30 SERIES MICRO SERVO VALVES, 2018, [Online], https://www.moog.com/content/dam/moog/literature/ICD/Moog-Valves-30series-datasheet-en.pdf, Accessed: October 5, 2020.