Verification of Pressure Dissipation for Force Control Using Electro-Hydrostatic Actuator

摘要

Electro-hydrostatic actuators (EHAs) with high torque-to-weight ratio are expected to be used as actuators of human-supporting robots. When controlling contact forces, it is necessary to compensate for the pressure dissipated by oil leakage. In this paper, we verified the dissipation phenomenon of pressure and EHA's modeling in contact operation.