Energy Efficient Fluid Power in Autonomous Legged Robotics

• DOI: 10.1115/dscc2009-2522
• Publication Date: 2010-09-20T13:11:50Z
• Authors: Emanuele Guglielmino; Claudio Semini; Yousheng Yang; Darwin Caldwell; Helmut Kogler; Rudolf Scheidl
• Keywords: Fluid power

This paper is concerned with the application of fluid power in autonomous robotics where high density and energy efficiency are key requirements. A hydraulic drive for a bioinspired quadruped robot leg studied. The performance classical valve-controlled (“resistive-type”) an saving (“switching-control mode”) actuation system compared. After describing bio-inspired design prototyping, models both drives developed assessments carried out. It shown through simulation that switching-control mode can meet challenge legged robotic locomotion terms respect to improving power-autonomy. An about 75% achieved. Limitations current identified suggestions improvements outlined.