A composite algorithm for flow rate reduction and stable body trajectory generation in a hydraulic actuated quadruped robot with kinematic redundancy
- Authors
- Kim, Taeju; Park, Sangdeok; Yi, Byung ju
- Issue Date
- Aug-2011
- Publisher
- IEEE
- Keywords
- Hydraulic Actuated Robot; Legged Robot; Redundancy Resolution
- Citation
- 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp.343 - 348
- Indexed
- SCOPUS
- Journal Title
- 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
- Start Page
- 343
- End Page
- 348
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/39136
- DOI
- 10.1109/ICMA.2011.5985681
- ISSN
- 2152-7431
- 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. © 2011 IEEE.
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