HyQ - Hydraulically actuated quadruped robot: Hopping leg prototype

This paper describes the concept, specifications and design of the biologically inspired quadruped robot HyQ, with special focus on the leg design. The main scope of this new robotic platform is to study highly dynamic tasks such as running and jumping. To meet the specifications in terms of performance and dimensions, hydraulic actuation has been chosen due to its high power to weight ratio and fast response. Guidelines on how to choose the design parameters of the hydraulic cylinders including lever length are reported. A two DOF leg prototype has been designed and constructed. The experimental test setup for the leg prototype is explained and the results of first hopping experiments are reported.