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This research addresses a critical reliability challenge in robotics by enabling sensorless remote actuation through water-filled flexible tubes, which are essential for operating in harsh environments where electronics would fail. The study demonstrates that simultaneous power transmission and position estimation can be achieved over distances up to 50 meters using pressure-based modeling of volumetric loss and air entrapment. By eliminating the need for onboard sensors on the actuator side, this approach facilitates robust feedback control frameworks previously unattainable in such sensorless hydraulic systems.
SHAPE: Simultaneous Water Hydraulic Actuation and Position Estimation of a Sensorless Remote Actuator through a Thin and Long Flexible Tube
arXiv:2607.17054v1 Announce Type: new Abstract: Robot sensors and electronic equipment are prone to failure in harsh environments. With water hydraulic drive, thin and long tubes enable remote operation without actuator-side sensors. Furthermore, the elasticity of the tubes reduces the impedance of the joints (actuators), benefiting robot tasks involving unexpected contact with the environment or vibrations. However, owing to the low impedance and limited camera visibility, accurately positioning the joint (or end effector) to the target location under varying load conditions is challenging. This study proposes a novel method that employs water-filled flexible tubes to enable the transmission of driving power and actuator-side information to and from the actuator, respectively, without actuator-side sensors. By modeling volumetric loss during transmission based on pressure fluctuations and incorporating minor air entrapment, simultaneous power transmission and position estimation is achieved through a tube up to 50 m. Thus, it becomes possible to use a feedback control framework that was previously difficult to implement in sensorless systems. Experimental validation confirms stable position control of a sensorless water hydraulic cylinder under varying loads. Furthermore, a field parameter-identification method accounts for tube and air entrainment variability without requiring actuator-side sensors. These contributions promote reliable remote control of robots in harsh environments.
Abstract:Robot sensors and electronic equipment are prone to failure in harsh environments. With water hydraulic drive, thin and long tubes enable remote operation without actuator-side sensors. Furthermore, the elasticity of the tubes reduces the impedance of the joints (actuators), benefiting robot tasks involving unexpected contact with the environment or vibrations. However, owing to the low impedance and limited camera visibility, accurately positioning the joint (or end effector) to the target location under varying load conditions is challenging. This study proposes a novel method that employs water-filled flexible tubes to enable the transmission of driving power and actuator-side information to and from the actuator, respectively, without actuator-side sensors. By modeling volumetric loss during transmission based on pressure fluctuations and incorporating minor air entrapment, simultaneous power transmission and position estimation is achieved through a tube up to 50 m. Thus, it becomes possible to use a feedback control framework that was previously difficult to implement in sensorless systems. Experimental validation confirms stable position control of a sensorless water hydraulic cylinder under varying loads. Furthermore, a field parameter-identification method accounts for tube and air entrainment variability without requiring actuator-side sensors. These contributions promote reliable remote control of robots in harsh environments.
11 pages, 11 figures, and 7 tables. Yuki Nakamura and Shuto Yoshimura contributed equally to this work
Robotics (cs.RO)
arXiv:2607.17054 [cs.RO]
(or arXiv:2607.17054v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.17054 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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