Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot

Yang, Kejian; Li, Yibin; Zhou, Lelai; Rong, Xuewen

doi:10.3390/en12132514

Cited by 25 publications

(21 citation statements)

References 28 publications

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“…The main purpose of this paper is to study the performance of the HPCA with the compliant control strategy and not the attitude control of the quadruped robot in complex terrain. Thus, the actuators at the hip A/A can be ignored [30]. Since the leg prototype of SCalf is X style (hind knees pointing to front knees), the forward and inverse kinematics in hip coordinates are in the same form.…”

Section: Active Compliance Control a Leg Kinematicsmentioning

confidence: 99%

Active Compliance Control on the Hydraulic Quadruped Robot With Passive Compliant Servo Actuator

Hua

Rong

et al. 2019

IEEE Access

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A hydraulic servo actuator with passive compliance (HPCA) is designed for hydraulic actuated quadruped robots, aiming to solve the response discrepancy of the low-bandwidth servo valve to impact forces between robot's feet and the ground. This paper focuses on the performance of this passive compliance method combined with an active compliance control strategy when used on quadruped robots. First, the frequency-response characteristics of the HPCA are further discussed. Then, combined with the requirements of the quadruped robot, a compliant method characterized by incorporating dynamic feedforward control and joint angle feedback control items into the virtual model is proposed. Finally, both the new algorithm and the performance of the HPCA are verified by simulation and experiment. The results demonstrate that, compared with the original actuator, the frequency-response characteristics of the HPCA have better adaptability for the quadruped robot, while the efficiency of the active compliance control is also improved by this novel passive compliance strategy.

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Section: Active Compliance Control a Leg Kinematicsmentioning

confidence: 99%

Active Compliance Control on the Hydraulic Quadruped Robot With Passive Compliant Servo Actuator

Hua

Rong

et al. 2019

IEEE Access

Self Cite

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“…Usually, the energy efficiency of hydraulic legged robots can be improved by optimizing robot mechanical structure and robot motion gait. Yang et al [11,12] consider the way that robot consumes energy, and established an energy model that includes mechanical power and heat rate. The total energy cost of the hydraulic robot is dropped by 7.55% with a foot trajectory based on the Fourier series.…”

Section: Introductionmentioning

confidence: 99%

Planning and Analysis of Centroid Fluctuation Gait for Hydraulic Hexapod Robot[−2pt]

et al. 2021

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Energy consumption is an important comprehensive index of the hydraulic hexapod robot (HHR). In this paper, the kinematics model and the hydraulic system energy consumption model of HHR are established. In order to reduce the energy consumption, a centroid fluctuation gait that adds the movement of the centroid in the vertical direction is proposed. Then the gait parameters such as step length, gait cycle, average centroid height, centroid fluctuation height, and phase that influence the energy consumption are studied which could provide a theoretical basis for parameter optimization. In the same gait parameters, compared with using constant height gait, the energy consumption of HHR using centroid fluctuation gait is generally reduced, and the maximum energy saving can be more than 10%. Finally, a virtual prototype is used to verify the effectiveness of the proposed methods.

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“…Numerous hydraulic equipments such as vibration test bench, energy regenerative suspension, fast forging machine, and hydraulic press have the characteristic of vertical reciprocating motion. If the gravitational potential energy is not properly handled, there will be large energy consumption [28][29][30][31]. In order to address this problem, the independent metering technique is introduced [32,33].…”

Section: Introductionmentioning

confidence: 99%

Energy-Efficient Robust Control for Direct Drive and Energy Recuperation Hydraulic Servo System

Wei-ping

Zhao

2020

Complexity

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During the vertical cyclic actuation process of heavy materials handling, the gravitational potential energy will be converted to heat in the form of throttle in the traditional hydraulic system. Therefore, large energy dissipation is inevitable is this process. In order to achieve energy recuperation, as well as precise trajectory tracking, a direct drive and energy recuperation system is developed. To be specific, the function of direct drive and energy recovery is realized via the three-chamber actuator and a hydraulic accumulator. Moreover, the optimized parameters are obtained by the simulated annealing algorithm. To further reduce the energy consumption, the variable supply pressure control circuit is introduced into the system. Furthermore, the prescribed tracking performance is guaranteed by the proposed robust controller. To compensate for the uncertainties, both in the variable supply pressure control circuit and the robust controller, the RBF neural network is employed to approximate the unknown function. The presented approach theoretically possesses the ability to minimize the energy consumption while maintaining satisfied tracking accuracy. The results demonstrate that the proposed approach can save nearly 90 percent of the energy, and the maximum tracking error is 2 mm.

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Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot

Cited by 25 publications

References 28 publications

Active Compliance Control on the Hydraulic Quadruped Robot With Passive Compliant Servo Actuator

Active Compliance Control on the Hydraulic Quadruped Robot With Passive Compliant Servo Actuator

Planning and Analysis of Centroid Fluctuation Gait for Hydraulic Hexapod Robot[−2pt]

Energy-Efficient Robust Control for Direct Drive and Energy Recuperation Hydraulic Servo System

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