Cart (Loading....) | Create Account
Close category search window

Backdrivable miniature hydrostatic transmission for actuation of anthropomorphic robot hands

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Kaminaga, H. ; Dept. of Mechano-Inf., Univ. of Tokyo, Tokyo ; Yamamoto, T. ; Ono, J. ; Nakamura, Y.

Humanoid robots demand high performance on actuators, such as power-to-weight ratio, durability, occupation volume, and freedom of placement. Also, for robots to interact with unknown objects, flexibility is necessary. Backdrivability is effective when both flexibility and high output torque needs to be realized, which were often contradicting requirement. In this paper, backdrivable hydrostatic transmission is proposed to satisfy requirements above. First, development of hydrostatic actuator including conditions of backdrivability is explained. Second design of backdrivable pump, hydraulic motor and manifold design is explained. Next, design of an anthropomorphic robot hand using developed hydrostatic transmission is discussed. Finally, developed hand is presented and experiments on backdrivability, force sensing, and grasping were performed.

Published in:

Humanoid Robots, 2007 7th IEEE-RAS International Conference on

Date of Conference:

Nov. 29 2007-Dec. 1 2007

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.