Energy Efficient Fluid Power in Autonomous Legged Robotics

摘要

This paper is concerned with the application of fluid power in autonomous robotics where high power density and energy efficiency are key requirements. A hydraulic drive for a bioinspired quadruped robot leg is studied. The performance of a classical valve-controlled (“resistive-type”) and of an energy saving (“switching-control mode”) hydraulic actuation system are compared. After describing the bio-inspired leg design and prototyping, models for both drives are developed and energy efficiency assessments are carried out. It is shown through simulation that the switching-control mode hydraulic actuation can meet the challenge of legged robotic locomotion in terms of energy efficiency with respect to improving robot power-autonomy. An energy saving of about 75% is achieved. Limitations of the current system are identified and suggestions for improvements are outlined.