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Hydraulic actuation impedance control for robots with legs and arms

Grant number: 18/15472-9
Support type:Research Grants - Young Investigators Grants
Duration: February 01, 2020 - January 31, 2025
Field of knowledge:Engineering - Mechanical Engineering
Principal Investigator:Thiago Boaventura Cunha
Grantee:Thiago Boaventura Cunha
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
Assoc. researchers:Adriano Almeida Gonçalves Siqueira ; Daniel Varela Magalhães ; Glauco Augusto de Paula Caurin ; Paulo Sergio Varoto

Abstract

Hydraulic actuators have several properties that make them a suitable choice for mobile robots with arms and legs. Firstly, they have higher power density than electric actuators, satisfying the requirements of force and speed with more compact and lighter devices, and with no need for additional gearboxes. They are also stiffer, resulting in the possibility to have better closed-loop performance. Yet, the research on this technology in the robotics field is very limited in Brazil, including USP. Thus, this project aims at filling this gap and leveraging the use of hydraulics in robotics in the State of Sao Paulo and in Brazil, thus matching the requirements for the call "Young Researchers in Emerging Institutions". The focus of the project is on the control of this kind of actuators, mainly force and impedance control under interaction with humans and the environment. Many model-based and nonlinear approaches will be implemented in hydraulically-actuated platforms of different complexities, including an arm and a quadruped robot. The project comprises also syHydraulic actuators have several properties that make them a suitable choice for mobile robots with arms and legs. Firstly, they have higher power density than electric actuators, satisfying the requirements of force and speed with more compact and lighter devices, and with no need for additional gearboxes. They are also stiffer, resulting in the possibility to have better closed-loop performance. Yet, the research on this technology in the robotics field is very limited in Brazil, including USP. Thus, this project aims at filling this gap and leveraging the use of hydraulics in robotics in the State of Sao Paulo and in Brazil, thus matching the requirements for the call "Young Researchers in Emerging Institutions". The focus of the project is on the control of this kind of actuators, mainly force and impedance control under interaction with humans and the environment. Many model-based and nonlinear approaches will be implemented in hydraulically-actuated platforms of different complexities, including an arm and a quadruped robot. The project comprises also systematic analyses of important characteristics of the closed-loop system, such as sampling and control frequencies, as well as the hydraulic transmission stiffness. The same algorithms will also be implemented in electrically-actuated platforms for a methodical comparison in terms of performance and stability, highlighting pros and cons of each. This project is 4 years long and counts also on the considerable financial, technological, and intellectual support from 1 national and 7 international prestigious partners. (AU)stematic analyses of important characteristics of the closed-loop system, such as sampling and control frequencies, as well as the hydraulic transmission stiffness. The same algorithms will also be implemented in electrically-actuated platforms for a methodical comparison in terms of performance and stability, highlighting pros and cons of each. This project is 4 years long and counts also on the considerable financial, technological, and intellectual support from 1 national and 7 international prestigious partners. (AU)