Hydraulic Controller for Robots

The Hydraulic Actuator Controller (HAC) is developed to provide users with the convenience of operating hydraulic actuators in a manner similar to electric motors. By interfacing with hydraulic servo valves and feedback sensors, it enables easy implementation of precise closed-loop control for hydraulic actuators. HAC supports various input/output and communication functions including servo valve control, analog I/O, CAN, SPI, and serial communication. Through stackable expansion boards called Shield Boards, users can connect a wide range of sensors to configure not only position control, but also velocity, force, and compliance control.

With the HAC, users can easily and flexibly configure and control hydraulic actuators, making it suitable not only for experts in automation and robotics, but also for users from other fields, students, and general users without deep technical knowledge. HAC v2 supports various types of shield boards, enabling users to build applications in their preferred configuration. Currently, eight different shield board types are supported, all of which are compatible with Serial and CAN communication. Except for the HAC Shield-SP, HAC Shield-NP, and HAC Shield-LP, the shield boards also support optional Zigbee wireless communication. Each board supports specific types of sensors, and all connected sensors can be used as feedback sensors—enabling a wide range of control modes such as position, speed, force, and compliance control.