Development of ‘ibuki’ an electrically actuated childlike android with mobility and its potential in the future society

In this paper, we present an electrically driven childlike android named ibuki equipped with a wheeled mobility unit that enables it to move in a real environment. Since the unit includes a vertical oscillation mechanism, the android can replicate the movements of the human center of mass and can express human-like upper-body movements even when moving by wheels. Moreover, providing 46 degrees of freedom enables it to perform various human-like physical expressions. The development of ibuki, as well as the implementation and testing of several functions, is described. Finally, we discuss the potential advantages and future research direction of a childlike mobile android.

Influence of Bubbles Causing Cavitation on Spool Oscillation of a Direct Drive Servovalve

A direct drive servovalve has some inherent benefits over its conventional counterparts, but also has better reliability and output power. However, due to the rigid connection between the spool and the motor, which takes the place of interstage drive-by fluid, the spool oscillation is a long-standing unsolved problem. In order to study the oscillation mechanism and the influencing factors, a double-circuit direct drive servovalve was numerically simulated. An oil return valve cavity was concentrated on as the main flow domain and was used to analyze the fluid flow characteristics. Local cavitation fraction and surface average cavitation fraction were defined to evaluate the cavitation situation. The periodic growth process of bubbles in the valve cavity was obtained. The numerical results show that bubbles in the oil return valve cavity changes, although the occurrence, evolution, and collapse stages were certain. The intensity of pressure pulsation caused by bubble variation is highly related to the bubbles causing the cavitation, which suggests a workable way to inhibit the spool oscillation.