A novel piezohydraulic actuator as artificial muscle in robotic applications
Wolfgang Zoels, Iason Vittorias, Georg Bachmaier
Abstract
Modern robotic applications involve close contact to the human and consequently, require apart from performance a high degree of safety from their actuators. Further, the dexterous manipulation abilities of a human are not yet inherently realized by technical media. In this work a novel piezohydraulic actuator is presented aiming at a) high power density, b) human-like force/velocity characteristic, c) intrinsic passive safety and low reflected inertia, and d) high robustness. It is shown why the piezohydraulic actuation principle is appropriate to mimic the behavior of a human muscle and, as a consequence, desirable for robotic applications. A model of the actuator is also presented together with simulation and experimental results.
BibTeX
@inproceedings{iros2015_anovelpiezohydra,
title = {A novel piezohydraulic actuator as artificial muscle in robotic applications},
author = {Wolfgang Zoels and Iason Vittorias and Georg Bachmaier},
booktitle = {IROS 2015},
year = {2015}
}