Title:Energy Efficient Fluid Power in Autonomous Legged RoboticsAuthor(s):Emanuele Guglielmino, Claudio Semini, Yousheng Yang, Darwin G. Caldwell, Rudolf Scheidl, Helmut KoglerAbstract:This paper is concerned with the application of fluid power in autonomous robotics where high power density and energy efficiency are key requirements. A hydraulic drive for a bioinspired quadruped robot leg is studied. The performance of a classical valve-controlled (resistive-type) and of an energy saving (switching-control mode) hydraulic actuation system are compared. After describing the bio-inspired leg design and prototyping, models for both drives are developed and energy efficiency assessments are carried out. It is shown through simulation that the switching-control mode hydraulic actuation can meet the challenge of legged robotic locomotion in terms of energy efficiency with respect to improving robot power-autonomy. An energy saving of about 75% is achieved. Limitations of the current system are identified and suggestions for improvements are outlined.Booktitle:Proc. 2009 ASME Dynamic Systems and Control Conference, Hollywood, CaliforniaPage Reference:8 page(s)Publishing:10/2009