This paper describes a direct-injection configuration of a monopropellant-powered actuator that is intended to provide high-energy-density actuation for a self-powered position- or force-controlled human-scale robot. The proposed actuator is pressurized by a pair of solenoid injection valves (each of which control the flow of a monopropellant through a catalyst pack and directly into the respective side of a pneumatic-type cylinder), and depressurized via a three-way hot-gas proportional exhaust valve. A controller is described that coordinates the control of the two solenoid propellant injection valves, together with the control of the proportional hot-gas exhaust valve, in order to provide actuator force tracking. Experimental results are presented that validate the effectiveness of the force-control approach. Finally, energetic performance of the proposed actuator is experimentally assessed and shown to provide an energetic figure of merit, an order of magnitude greater than that of a battery-powered servomotor approach
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Shields et al. (2006) studied this question.
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