Simulated performance assessment of different digital hydraulic configurations for use on the HyQ leg

Author

Shuang Peng ; Branson, D. ; Guglielmino, Emanuele ; Caldwell, D.G.

Author_Institution

Ist. Italiano di Tecnol., Genoa, Italy

fYear

2012

fDate

11-14 Dec. 2012

Firstpage

36

Lastpage

41

Abstract

This paper investigates the performance of four different digital hydraulic configurations on the leg of a hydraulic quadruped robot HyQ via numerical simulation. Hydraulic dynamics are analyzed in Co-simulation utilizing AMESim and Simulink where State flow control is used to make decisions for each digital valve, and the performance and power usage of the systems analyzed. Results indicate that digital hydraulic technology can be applied to the actuation system of the robot to achieve energy saving performance and smooth response.

Keywords

actuators; control engineering computing; energy conservation; flow control; hydraulic systems; legged locomotion; mechanical engineering computing; numerical analysis; robot dynamics; valves; AMESim software; HyQ leg; Simulink software; actuation system; digital hydraulic configuration; digital hydraulic technology; digital valve; energy saving performance; hydraulic dynamics; hydraulic quadruped robot; numerical simulation; state flow control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on

Conference_Location

Guangzhou

Print_ISBN

978-1-4673-2125-9

Type

conf

DOI

10.1109/ROBIO.2012.6490940

Filename

6490940