Title :
A composite algorithm for flow rate reduction and stable body trajectory generation in a hydraulic actuated quadruped robot with kinematic redundancy
Author :
Kim, Taeju ; Park, Sangdeok ; Yi, Byung-Ju
Author_Institution :
Dept. of Appl. Robot Technol., Korea Inst. of Ind. Technol., Ansan, South Korea
Abstract :
A hydraulic actuator has a various merits. It has a small size and a high power-to-weight ratio. So it is able to generate high torque in small size actuator. These features of hydraulic actuator are very useful for a walking robot. However, the hydraulic actuator needs a hydraulic power-pack which supplies pressure and flow. Usually, a big and heavy power-pack is needed to generate high pressure and large flow rate. Especially this power-pack is a burden to the stand alone type robot. Therefore it is very important o minimize the size of the power-pack. In this paper, we propose a redundantly actuated quadruped robot which is driven by hydraulic actuator. Using the kinematic redundancy of each leg mechanism, a flow rate consumption minimization algorithm is proposed, which allows minimizing the size of a power-pack. We demonstrate the reduction of the flow rate of the robot through simulation and experiment.
Keywords :
hydraulic actuators; legged locomotion; redundancy; robot kinematics; composite algorithm; flow rate consumption minimization algorithm; flow rate reduction; heavy power pack; hydraulic actuated quadruped robot; hydraulic actuator; hydraulic power pack; kinematic redundancy; power-to-weight ratio; redundantly actuated quadruped robot; small size actuator; stable body trajectory generation; stand alone type robot; torque; walking robot; Angular velocity; Foot; Hydraulic actuators; Joints; Leg; Legged locomotion; Hydraulic Actuated Robot; Legged Robot; Redundancy Resolution;
Conference_Titel :
Mechatronics and Automation (ICMA), 2011 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8113-2
DOI :
10.1109/ICMA.2011.5985681