Development of an On-board Power Pack for the Hydraulic Humanoid Robot HYDROïD

Abstract

This paper presents the development of a hydraulic power pack intended for the humanoid hydraulic robot HYDROïD. Hydraulic power is characterized by its high torque and its high power to weight ratio. However, constant need for the hydraulic power, limits the motion of the humanoid robot and nullify its expected autonomous behavior. This compact power pack is intended to fit into the back of the robot’s torso. Sizing methodologies for hydraulic power calculations are presented,based on the robot’s required activity. Based on these calculations, each hydraulic component is selected and demonstrated in details.The whole power pack is presented and is shown mounted on the robot showing the feasibility of its dimensions, weight and performance.