A Survey of Energy-Efficient Electro-hydraulic Control System for Collaborative Humanoid Robots

Abstract

The demand for everyday humanoid robots is growing, as well as the ease of their use. It is therefore imperative that these robots use their energy as efficiently as possible in order to ensure maximum operation. This paper lays out the different methods of actuation used in driving humanoid robots as well as the necessity for human–robot collaboration (HRC). The study presents various methods that have been used by different researchers for robot actuation as well as advantages and disadvantages of some of the commonly used methods. Furthermore, the research discusses results found by different studies based on their preferred method of actuation whether its hydraulic, pneumatic, or electric. Findings show that hydraulic actuation for robots seems to be the more viable solution for the actuation of legged robots as the system has the highest load capacity compared to other systems with one of the studies showing up to 60% reduction in operator load by using a robot that can operate in either active or passive mode depending on the operator’s needs.