doi: 10.7763/IJMO.2023.V13.833
Electronic Implementation of High Bandwidth Linear Hydraulic Actuator for Legged Robot’s Applications
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S. Alfayad
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- Laboratory of Computing, Integrative Biology and Complex Systems (IBISC), Univ Evry, Paris-Saclay University, Evry 91000, France.
- Manuscript received February 8, 2023
- revised March 20, 2023
- accepted May 30, 2023
Abstract
The Electro-Hydraulic Actuator (EHA) is widelyused in various fields, including but not limited to humanoidrobotics, industrial actuators, prosthetics, rehabilitationequipment, and aeronautics. The development of legged robotsand robotic systems must consider high dynamics and widebandwidth. Due to their large bandwidth, electro-hydraulicservo-valves (EHSV) provide a substantial advantage overtraditional electro-hydraulic proportional valves. However,some EHSVs' electrical properties can make it difficult tofunction correctly. To enhance the dynamic performance ofEHSV-based actuation systems, this research suggests a novelelectronic driver topology. The hydraulic, electrical, andmechanical components of the Simscape a toolbox in Matlab-Simulink is used to verify the theoretical study that forms thebasis of the proposed driver design. Finally, experimental datafrom a hydraulic system test bench in a lab are acquired.
Keywords
- High bandwidth actuators
- dynamic driver
- servo-valve
- modelling
- current controller
- torque motor
- electro-hydraulic servo-valve (EHSV)
- servo-electro hydraulicactuator (SEHA)
How to Cite
G. Abdulmalek, A. Ammounah, N. Ait Oukfroukh, S. Alfayad, and S. Mammar, "Electronic Implementation of High Bandwidth Linear Hydraulic Actuator for Legged Robot’s Applications," International Journal of Modeling and Optimization, vol. 13, no. 3, pp. 100-106, 2023. https://doi.org/ 10.7763/IJMO.2023.V13.833
Copyright & License
Copyright © 2023 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).