Passivity based force control of hydraulic robots

Satoru Sakai, Stefano Stramigioli

    Research output: Contribution to journalConference articleAcademicpeer-review

    8 Citations (Scopus)
    148 Downloads (Pure)


    This paper gives a new nonlinear force control of hydraulic robots. Unlike the electrical robots, hydraulic robots are governed not only by the energy conservation but also by the mass conservation. First we propose a generalized continuity law and a canonical form of hydraulic robots. Second, we propose a new nonlinear robust force control based on passivity in order to achieve the desired force in the presence of unknown environment consisting of the energy storing elements and dissipative elements. Finally, we confirm the validity of our proposed methods by simulation and experiment.

    Original languageEnglish
    Pages (from-to)20-25
    Number of pages6
    JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
    Issue number16
    Publication statusPublished - 1 Jan 2009
    Event9th IFAC Symposium on Robot Control, SYROCO 2009 - Gifu, Japan, Gifu, Japan
    Duration: 9 Sept 200912 Sept 2009
    Conference number: 9


    • Casimir generation
    • Passivity based control
    • Robotic manipulators


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