Energy Efficient Fluid Power in Autonomous Legged Robotics
Sprache des Titels:
Englisch
Original Buchtitel:
Proc. 2009 ASME Dynamic Systems and Control Conference, Hollywood, California
Original Kurzfassung:
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.