Pressure optimization for hydraulic-electric hybrid biped robot power unit based on genetic algorithm

Zhao, Pengyu; Xie, Anhuan; Zhu, Shiqiang; Kong, Lingyu

doi:10.1038/s41598-022-26852-1

Cited by 4 publications

(3 citation statements)

References 23 publications

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“…Their precision and control make them suitable for applications where precise and repeatable motion is required 10,12 . Hydraulic 2,6,8, [13][14][15][16][17][18][19][20][21][22][23] and pneumatic 10,11,21,[24][25][26] systems are quite easy to compare, since both systems convert the energy stored in the uid into mechanical energy (force or torque), and the working principle is almost identical. The only difference is that the most common hydraulic systems usually use oil as the uid, while pneumatic systems use air.…”

Section: Introductionmentioning

confidence: 99%

Comparative study of a hydraulic, pneumatic and electric linear actuator system

Pustavrh,

Hočevar,

Podržaj

et al. 2023

Preprint

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Different applications or industries use different systems for linear actuation, such as hydraulic, pneumatic, or electric. Electric systems are becoming more popular and are already replacing hydraulic systems in various applications. These are known to be potentially harmful to the environment, as large amounts of fluid can be released into the environment in the case of a pipe failure or other accident. This paper presents the results of a comparison between hydraulic, pneumatic and electric systems under variable conditions but with similar loads in all three systems. The common feature of all three systems is the input power, which was limited to 1.1 kW. There was no hydraulic accumulator in the hydraulic system and no pressure vessel in the pneumatic system, so no stored energy could affect system behaviour or results. The main difference between the observed systems was the displacement and power consumption profile. The smoothest response and the lowest energy consumption was achieved with the electric system, although both hydraulic and pneumatic systems can achieve a smooth response with a few modifications.

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Section: Introductionmentioning

confidence: 99%

Comparative study of a hydraulic, pneumatic and electric linear actuator system

Pustavrh,

Hočevar,

Podržaj

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…Zhao (2023) developed an electro-hydraulic hybrid drive system for bipedal robots that aligns with human walking functions. This type of bipedal robot is designed based on bionics principles and can achieve natural and stable walking gaits via optimized mechanisms while reducing the unit energy consumption during walking [26].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Optimization of Mechanism Parameters of Bipedal Robot Considering Full-Range Walking Energy Efficiency

Chen,

An,

Wang

et al. 2023

Applied Sciences

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Mechanism parameters of bipedal robots are crucial for achieving efficient locomotion in complex environments. Inspired by the human energy-efficient walking style, this paper proposes a novel concept of full-range walking energy efficiency and explores the optimal linkage mechanism within certain ranges of step length and walking speed for bipedal robots. First, a bipedal model incorporating an upper body is established for dynamic analysis. Next, an optimal walking gait subject to walking constraints is solved by considering the full-range energy efficiency. Further, an optimal linkage mechanism is investigated, and the influence of dynamic parameters on energy efficiency is analyzed. Finally, the push-off impulse, minimum ground support force, and walking torque features are discussed. It shows that the full-range walking energy efficiency can be lowered by reducing the ratio of leg mass, concentrating mass at the hip joint, decreasing the length of the upper body, or increasing the center of mass of the leg. In addition, efficient walking motion can be achieved by designing the coordination of positive hip joint torque and push-off impulse at the ankle. This paper can be used to guide the mechanism parameter optimization and efficient walking gait design of bipedal robots.

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“…Their precision and control make them suitable for applications where precise and repeatable movement is required 20,22 . Hydraulic 2,6,14,16,18,[23][24][25][26][27][28][29][30][31][32][33] and pneumatic 20,21,26,[33][34][35][36] systems are quite easy to compare because both systems convert the energy stored in the fluid into mechanical energy (force or torque) and the principle of operation is almost identical. The only difference is that the most common hydraulic systems usually use oil as the fluid,…”

mentioning

confidence: 99%

Comparison of hydraulic, pneumatic and electric linear actuation systems

Pustavrh,

Hočevar,

Podržaj

et al. 2023

Sci Rep

View full text Add to dashboard Cite

Different applications or industries use different systems for linear actuation, such as hydraulic, pneumatic or electric. Electric systems are becoming increasingly popular and are already replacing hydraulic systems in various applications. These are known to be potentially harmful to the environment, as large amounts of fluid can be released into the environment in the event of a pipe burst or other accident. This paper presents the results of a comparison between hydraulic, pneumatic and electric systems under variable conditions but with similar loads in all three systems. The common feature of all three systems is the input power, which was limited to 1.1 kW. There was no hydraulic accumulator in the hydraulic system and no pressure vessel in the pneumatic system, so no stored energy could influence the system behaviour or results. The main difference between the systems studied was the profile of displacement and power consumption. The most consistent response and lowest power consumption were obtained with the electric system, although both hydraulic and pneumatic systems can achieve consistent response with some modifications.

show abstract

Pressure optimization for hydraulic-electric hybrid biped robot power unit based on genetic algorithm

Cited by 4 publications

References 23 publications

Comparative study of a hydraulic, pneumatic and electric linear actuator system

Comparative study of a hydraulic, pneumatic and electric linear actuator system

Dynamic Optimization of Mechanism Parameters of Bipedal Robot Considering Full-Range Walking Energy Efficiency

Comparison of hydraulic, pneumatic and electric linear actuation systems

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