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Actuator Modeling and Simulation

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Humanoid Robotics: A Reference

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Abstract

Humanoid robot actuators are highly integrated mechatronic systems. They exist in a broad variety of dimensions. Their operating principle can be based on electric, hydraulic, or pneumatic power. In any case, their modeling and simulation involve knowledge across multiple physical domains such as mechanics and electro-, fluid-, and thermodynamics. The domains are mutually coupled through energy transfer and conversion processes. The substantial degree of complexity arising from all these aspects renders the high-fidelity modeling and simulation of humanoid robot actuators a challenging task. This chapter equips the reader starting to explore this field with an overview over modeling formalisms and software tools suitable to govern this complexity. Moreover, it introduces the fundamental working principles behind electric, hydraulic, and pneumatic actuation. The experienced reader will find information about advanced topics on parasitic effects that are frequently encountered when working in depth on the design and control of humanoid robot actuators. In addition, the chapter covers compliant actuation, which is currently a very active research direction toward a new generation of humanoid robots capable of solving real-world tasks in unstructured dynamic environments.

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Authors and Affiliations

  1. Department of Advanced Robotics, Istituto Italiano di Tecnologia, 16163, Via Morego, 30, Genoa, Italy

    Jörn Malzahn & Victor Barasuol

  2. Faculty of Electrical and Computer Engineering, Institute of Automation, Technische Universität Dresden, 01062, Dresden, Germany

    Klaus Janschek

Authors
  1. Jörn Malzahn
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  2. Victor Barasuol
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  3. Klaus Janschek
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Corresponding author

Correspondence to Jörn Malzahn .

Editor information

Editors and Affiliations

  1. Intuitive Surgical , Sunnyvale, California, USA

    Ambarish Goswami

  2. Singapore, Singapur, Singapore

    Prahlad Vadakkepat

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Malzahn, J., Barasuol, V., Janschek, K. (2017). Actuator Modeling and Simulation. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7194-9_75-1

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  • DOI: https://doi.org/10.1007/978-94-007-7194-9_75-1

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7194-9

  • Online ISBN: 978-94-007-7194-9

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