The foot trajectory generation with minimization of fluid consumption for a hydraulic actuated quadruped robot

Abstract

Quadruped robot has the advantage of static and dynamic gait on rough terrain. But if the robot uses hydraulic power system, the fluid consumption must be considered. Especially in a restrictive hydraulic power system for stand-alone, a large fluid consumption can leads to the pressure drop and pressure drop caused lack of torque. Therefore an efficient utilization of hydraulic power system is very important. This paper proposes the fluid consumption minimized motion planning algorithm for the hydraulic actuated quadruped robot. © 2010 by World Scientific Publishing Co. Pte. Ltd.