Hiroshi Kaminaga

Nakamura and Takano Laboratory, The University of Tokyo

Mechatronics Development for Force Sensitive Electro-Hydrostatic Actuators

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In Nakamura Lab., we have been working on development of force sensitive robot systems using hydraulic actuation.  Electronics and firmware development still is a challenging task in development of actuator systems and robot systems using such actuators.  In the talk, I will talk about evolution of electronics developed in our laboratory and basic structure of them.  Attempt on firmware development on such platforms are explained.  Some recent results from development of EHA driven whole-body humanoid robot are also reported.