1A1-I02 Development of Hydraulic Quadruped Walking Robot RL-A1(Force Controlled Hydraulic Robots (1))

摘要

The paper reports on the development and performance evaluation of our hydraulic quadruped walking robot RL-A1. The robot is one meter length and 60kg weight. Each leg has three active joints and one passive joint. By using force control of hydraulic servo actuators, the robot can compliantly balance and walk through the irregular ground. The paper describes the overview of the hardware design and control system, as well as the initial experimental results without carrying a hydraulic power unit.