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Search: authors:"Sho Sakaino"

2 papers found.
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Development of friction free controller for electro-hydrostatic actuator using feedback modulator and disturbance observer

Hydraulic actuators have high power-to-weight ratios, making them suitable for high-power robotic applications such as in walking robots and construction machines. However, large frictional forces in hydraulic actuators, rotary hydraulic actuators in particular, degrade the control performance. To suppress frictional forces and increase robustness against modeling errors, this...

Whole-body tactile sensing through a force sensor using soft materials in contact areas

A force/torque sensor is a useful tool for detecting an external force acting on a robot. Techniques to detect a contact position from a single force/torque sensor have also been developed, but these have used rigid materials in the contact areas. In terms of safety, the material should have shock-absorbing characteristics. Hence, this paper investigates the use of a urethane...