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 study considered ...

This research deals with master-slave control of a teleoperated hydraulic construction robot. In this system, the master consists of two joysticks, and the slave is the hydraulic construction robot (including the fork glove, boom, arm, and swing, driven by hydraulic actuators). In a previous research, the authors proposed a force feedback method based on position-velocity control, in which the ...

Two biofilm reactors operated with hydraulic retention times of 0.8 and 5.0 h were used to study the links between population dynamics and reactor operation performance during a shift in process operation from pure nitrification to combined nitrification and organic carbon removal. The ammonium and the organic carbon loads were identical for both reactors. The composition and dynamics of the mi...

Model-based controllers have successfully been applied to many electrically driven robotic manipulators to improve their tracking performance. The application to hydraulically actuated systems however is not straight forward, due to the nonlinear internal dynamics of the actuators. This paper presents the modelling of an experimental hydraulic robot arm and the implementation of a cascaded cont...

BACKGROUND In order to expand the range of activities of an excavator, attachments, such as hydraulic breakers have been developed to be applied to buckets. However, it is very difficult to predict the dynamic behavior of hydraulic impact devices such as breakers because of high non-linearity. Thus, the purpose of this study is to optimize the impact performance of hydraulic breakers. The ultim...