Yasushi Saitou

Hyblock: Hardware Realization and Control of Modular Hydraulic Robots with Dowel Connectors

This paper presents the hardware design and development of Hyblock, a modular hydraulic robot for heavy-duty application such as construction. The robot is equipped with a simple docking mechanism called a C-type expansion dowel and a novel hydraulic circuit MHSB that matches the modular structure.…