A Study of Hydraulic Actuator Based On Electro Servo Valve For A Walking Robot

보행 로봇을 위한 서보밸브 구동 유압 액추에이터의 특성 분석

  • Received : 2016.01.28
  • Accepted : 2016.05.11
  • Published : 2016.06.01


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


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Grant : 고난이도 작업 수행을 위한 유압 로봇 제어 기술 개발 사업, 재난대응 특수목적기계 개발사업

Supported by : 산업통상자원부