Spring parameters design to increase the loading capability of a hydraulic quadruped robot

Chen, Xianbao; Gao, Feng; Qi, Chenkun; Zhao, Xin

doi:10.1109/icamechs.2013.6681702

Cited by 20 publications

(16 citation statements)

References 19 publications

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“…The decoupling of the input signal is realized by formula (11). In the actual system, the input signal can be written as…”

Section: The Decouple Of Force/position Hybrid Controlmentioning

confidence: 99%

“…9 For the development of hydraulic quadruped robots, hip joint motion is an extremely complicated process of the robot, which involves different components from four symmetrical legs, four rotating joints and each leg hydraulic actuator to a hinged torso equipped with computers, controllers and sensors. [10][11][12] Due to the larger distance between the robots' foot and roll shaft, in the same foot end force, the required driving torque is larger. [13][14][15] In order to obtain the required driving torque, it can be realized by increasing the oil supply pressure, increasing the effective area of the hydraulic cylinder and adopting multi-cylinder parallel connection and other ways.…”

Section: Introductionmentioning

confidence: 99%

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Study on motion analysis and force/position hydraulic control of a parallel cylinder transmission system of heavy-duty quadruped robot

Shao

Jin

Wang

et al. 2019

International Journal of Advanced Robotic Systems

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In the article, a heavy-duty quadruped robot was designed. A parallel cylinder transmission scheme for the heavy load torque of the hip joint of heavy-duty hydraulic quadruped robot is proposed, the mathematical model of the parallel cylinder system is derived, the model characteristics of the parallel cylinder system are analyzed, the characteristics of internal force and joint control of parallel cylinders are considered, the force/position hybrid control of parallel cylinder is proposed to eliminate the internal forces and realize the requirement of joint control and the force/position control is decoupled by the design of the force and position signal. According to the characteristics of the servo cylinder force control model, the flow compensation and speed compensation are introduced, the minimum control synthesis controller is used to control the servo cylinder force and the proportional integral controller is applied to control the position of servo cylinder. The compound control strategy is analyzed on the table of parallel cylinder, and the experimental results show that the amplitude attenuation and phase lag of position and force are less than 10% and 18 , respectively, and the efficiency of the proposed control strategy is verified. The research results of this article will be widely used in many fields of robot control in the future.

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“…The decoupling of the input signal is realized by formula (11). In the actual system, the input signal can be written as…”

Section: The Decouple Of Force/position Hybrid Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Study on motion analysis and force/position hydraulic control of a parallel cylinder transmission system of heavy-duty quadruped robot

Shao

Jin

Wang

et al. 2019

International Journal of Advanced Robotic Systems

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“…Thus, keeping the required task or operation features in the view, more and more specialized biologically inspired quadrupeds are being developed now-a-days. Some of them are Baby Elephant [20], BigDog [21], Cheetah-cub [22], HyQ [23], LittelDog [24,25] and Tekken [26,27]. Hydraulically actuated Baby Elephant [20] was designed to work as mechanical carrier.…”

Section: Introductionmentioning

confidence: 99%

“…It has 12 DOFs and compliant legs. Multi-body dynamic simulation was used in [20] for its design and the results were experimentally validated. BigDog [21] was developed with the goal to move in rough terrain without human assistance.…”

Section: Introductionmentioning

confidence: 99%

Control oriented model-based simulation and experimental studies on a compliant legged quadruped robot

Gor

Pathak

Samantaray

et al. 2015

Robotics and Autonomous Systems

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“…In the case of AlphaDog and Baby Elephant of SJTU [8], attempts were made to solve these problems related to the articulated leg mechanically. Even though the Leg of BigDog (d) Leg of JINPOONG legs of these two robot models look different, the pantograph mechanism was applied to both, thus endowing them with the mechanical properties that can help realize the extension motion with only one linear actuator.…”

Section: Introductionmentioning

confidence: 99%

Leg mechanism design for SLIP model of hydraulic quadruped robot

Seo

Cho

Park

et al. 2014

2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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The Spring Loaded Inverted Pendulum (SLIP) describes the dynamic walking of humans and animals in a simplified manner. However, realizing such movements by means of a combination of typical articulated legs and linear actuators has some limitations. This paper proposes a leg mechanism that accurately reflects the SLIP based on its mechanical constitution. The SLIP design based leg is able to do decoupled swing motion and extension motion. Also this study has focused on improving the straightness of extension motion.

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Spring parameters design to increase the loading capability of a hydraulic quadruped robot

Cited by 20 publications

References 19 publications

Study on motion analysis and force/position hydraulic control of a parallel cylinder transmission system of heavy-duty quadruped robot

Study on motion analysis and force/position hydraulic control of a parallel cylinder transmission system of heavy-duty quadruped robot

Control oriented model-based simulation and experimental studies on a compliant legged quadruped robot

Leg mechanism design for SLIP model of hydraulic quadruped robot

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