Title :
Simulated performance assessment of different digital hydraulic configurations for use on the HyQ leg
Author :
Shuang Peng ; Branson, D. ; Guglielmino, Emanuele ; Caldwell, D.G.
Author_Institution :
Ist. Italiano di Tecnol., Genoa, Italy
Abstract :
This paper investigates the performance of four different digital hydraulic configurations on the leg of a hydraulic quadruped robot HyQ via numerical simulation. Hydraulic dynamics are analyzed in Co-simulation utilizing AMESim and Simulink where State flow control is used to make decisions for each digital valve, and the performance and power usage of the systems analyzed. Results indicate that digital hydraulic technology can be applied to the actuation system of the robot to achieve energy saving performance and smooth response.
Keywords :
actuators; control engineering computing; energy conservation; flow control; hydraulic systems; legged locomotion; mechanical engineering computing; numerical analysis; robot dynamics; valves; AMESim software; HyQ leg; Simulink software; actuation system; digital hydraulic configuration; digital hydraulic technology; digital valve; energy saving performance; hydraulic dynamics; hydraulic quadruped robot; numerical simulation; state flow control;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4673-2125-9
DOI :
10.1109/ROBIO.2012.6490940
