1P1-I05 Dynamic Characteristics Evaluation of Linear Electro-Hydrostatic Actuator Using Inertial Load(Force Controlled Hydraulic Robots (2))

To introduce a robot into human-dominated environment, its actuators should be both force sensitivite and powerful. To realize force sensitivity, we have been proposing intrinsically backdrivable electro-hydrostatic actuators(EHA) and their effectiveness in force sensing. However, in order to enhance the backdrivability, we sacrifice power efficien y of the actuator. To cope with both backdrivability and high power efficieny, hydraulic cylinder was introduced in an EHA as an output. In this paper, the property, including backdrivability and dynamic characteristics, was evaluated on the developed EHA with hydraulic cylinder. To evaluate dynamic characteristics of the EHA, we used inertial load. We developed an experimental device for dynamic characteristics evaluation.