| Li Mantian (李满天),Jiang Zhenyu,Guo Wei,Sun Lining.[J].高技术通讯(英文),2015,21(1):8~14 |
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| Research on bionic quadruped robot based on hydraulic driver |
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| DOI：10.3772/j.issn.1006-6748.2015.01.002 |
| 中文关键词: |
| 英文关键词: legged robots, locomotion control, quadruped robot, trotting gait, hydraulic actuation |
| 基金项目: |
| Author Name | Affiliation | | Li Mantian (李满天) | | | Jiang Zhenyu | | | Guo Wei | | | Sun Lining | |
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| 中文摘要: |
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| 英文摘要: |
| A prototype of hydraulically powered quadruped robot is presented. The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of endurance and high load carrying ability. The current version is 1.1m long and 0.48m wide, and weights about 150kg. Each leg has four rotational joints driven by hydraulic cylinders and one passive translational joint with spring. The torso carries the control system and the power system. A novel control algorithm is developed based on a Spring-Loaded Inverted Pendulum model and the principle of joint function separation. The robot can not only cross a 150mm high obstacle in static gait and trot at 2.5km/h and 1km/h on the level-ground and 10°sloped-terrain respectively, but also automatically keep balanced under lateral disturbance. In this paper, the mechanical structure and control systems are also discussed. Simulations and experiments are carried out to validate the design and algorithms. |
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