High Power Density Drive System of a Novel Hydraulic Quadruped Robot

Abstract

Walking robots in practice are energy autonomy, so the high power density drive technology is crucial in robotics. In this paper, two approaches are proposed to increase power density of a novel hydraulic quadruped robot. One is that, a hybrid actuator is invented to make the simplest hydraulic system for robot. The structure and feature of the actuator is described in detail. The other is to reduce installed capacity by optimizing flow requirement. The factors that contribute to flow rate are analyzed. The experiment results show that the quadruped robot with the simplest hydraulic system works stably and reliably.