Engineers routinely face tradeoffs as they design robotic limbs – weight vs. speed, ease of control vs. fluidity. A new hybrid fluid transmission developed at Disney Research Pittsburgh promises to eliminate some of those tradeoffs, making possible robot arms that are light enough to move swiftly and gracefully, yet with precise control.
The transmission consists of antagonist pairs of rolling diaphragm cylinders – similar to traditional hydraulic cylinders, but sealed with a rubber diaphragm instead of sliding seals and valves. The result is a system that can efficiently transmit power with little friction. Yet it is also “backdriveable,” capable of absorbing energy, as well as transmitting it.
The latter characteristic allows engineers to design limbs with “give,” an important feature as designers contemplate new applications in the home, at work, or in entertainment venues that enable soft interactions between people and robots.
“We’ve combined the best elements of a hydraulic system with the best elements of an electric motor system,” said Peter Whitney, an associate research scientist at Disney Research Pittsburgh. The transmission allows robot limbs to be light, strong and graceful, he explained, while driving them with easily controlled, low-friction motors. The motors, which normally would add significant weight to the limbs, can be mounted on the robot body instead.
The system transmits force so efficiently that Whitney and a Disney Research Pittsburgh lab associate, Tianyao Chen, found they could build an entirely passive “puppet” system, moving one robot arm by manipulating a second robot arm linked to it with the transmission. The system is notably sensitive to tactile feedback from the puppet arm. One possible application of a system made of non-ferrous material would be as a surgical robot compatible with use in a magnetic resonance imaging (MRI) device, Whitney suggested.