Design and implementation of a hydraulic actuated biped robot motion system

摘要

The hydraulic actuated motion system of a biped robot,which has 8degrees of freedom, with payload capacity is proposed.Comparing with the motor driving robots with the same payload capacity,the robot developed in this research has the advantages of smaller volume and better dynamic characteristics.For that the primary mass is concentrated on the legs when the robot is idle load,a dynamic balance control method in the coronal plane is proposed.Unlike the inverted pendulum model,this control method has no constraint on the mass distribution of the biped robot,which enlarged the application range.The effectiveness of this hydraulic actuated motion system of the biped robot is demonstrated by simulation experiment on Automatic Dynamic Analysis of Mechanical System(ADAMS)and physical prototype idle load experiments.