This paper presents the design of the hydraulically actuated quadruped robot HyQ2Max . HyQ2Max is an evolution of the 80 kg agile and versatile robot HyQ. Compared to HyQ, the new robot needs to be more rugged, more powerful and extend the existing locomotion skills with self-righting capability. Since the robot's actuation system has an impact on many aspects of the overall design/specifications of the robot (e.g., payload, speed, torque, overall mass, and compactness), this paper will pay special attention to the selection and sizing of the joint actuators. To obtain meaningful joint requirements for the new machine, we simulated seven characteristic motions that cover a wide range of required behaviors of an agile rough terrain robot, including trotting on rough terrain, stair climbing, push recovery, self-righting, etc. We will describe how to use the obtained joint requirements for the selection of the hydraulic actuator types, four-bar linkage parameters, and valve size. Poorly sized actuators may lead to limited robot capabilities or higher cost, weight, energy consumption, and cooling requirements. The main contributions of this paper are: 1) a novel design of an agile quadruped robot capable of performing trotting/crawling over flat/uneven terrain, balancing, and self-righting; 2) a detailed method to find suitable hydraulic cylinder/valve properties and linkage parameters with a specific focus on optimizing the actuator areas; and 3) to the best knowledge of the authors, the most complete review of hydraulic quadruped robots.

Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max

Development of quadruped walking robots: A review

An improved adaptive iterative learning algorithm is applied on manipulators with repetitive time-varying disturbance. The saturation function was used when designed control law to reduce the torque chattering problem, and to force the manipulators to track time-varying reference signal fast, correctly and with assigned speed. The effectiveness of the proposed control system is demonstrated by Lyapunov analysis and simulation results: when the number of iteration increase, the tracking error will converge to zero uniformly with respect to the finite time interval, and chattering phenomenon reduced.

Adaptive Iterative Learning Control for Robot Manipulators

To improve the controllability of an electro-hydraulic position servo control system while simultaneously enhancing the anti-jamming ability of a PID controller, a compound PID controller that combines the beetle antennae search algorithm with PID strategy was proposed, and used to drive the position servo control system of the electro-hydraulic servo system. A BAS-PID controller was designed, and the beetle antennae search algorithm was used to tune PID parameters so that the disturbance signal of the system was effectively restrained. Initially, the basic mathematical model of the electro-hydraulic position servo control system was established through theoretical analysis. The transfer function model was obtained by identifying system parameters. Then, the PID parameter-tuning problem was converted into a class of three-dimensional parameter optimization problem, and gains of PID controllers were adjusted using the beetle antennae search algorithm. Finally, by comparing the effectiveness of different algorithms, simulation and experimental results revealed that the BAS-PID controller can greatly enhance the performance of the electro-hydraulic position servo control system and inhibit external disturbances when different interference signals are used to test the system’s robustness.

https://www.mdpi.com/1424-8220/19/12/2727/pdf

Optimized PID Controller Based on Beetle Antennae Search Algorithm for Electro-Hydraulic Position Servo Control System.

Optimal shifting control strategy in inertia phase of an automatic transmission for automotive applications

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies a few experiments had be made in this thesis such as the marking time experiment, the squat experiment, the walking experiments, the trotting experiments.

The research of hydraulic quadruped bionic robot design

Research on Control Strategy of Shifting Progress

Hydraulic actuators are widely used in various kinds of industrial applications. High-power density is key parameters for engineering applications especially for quadruped robots applied in the outdoor environment. Therefore, an increasing number of advanced robots are equipped with hydraulic actuators. In this paper, to compensate the inherent nonlinearities and enhance the performance of the quadruped robot, a hybrid fuzzy controller composed of fuzzy logic controller and Proportion Integration Differentiation controller is evaluated both in simulations and experiments. The control strategy is developed based on the accurate mathematical model. The Matlab Simulink and Fuzzy Logic Toolbox are implemented to accomplish the simulations under flexible loads. Single hydraulic actuator and single leg experiments are accomplished on the specific platforms. Both the simulations and the experimental results indicate that the fuzzy Proportion Integration Differentiation control strategy is capable of fulfilling t...

The modeling and controlling of electrohydraulic actuator for quadruped robot based on fuzzy Proportion Integration Differentiation controller

Based on BF6M1015CP electronic diesel engine (it is a supercharged, water-cooled engine. It has 6 cylinders and it is for heavy-duty vehicle) and HD4070PR electronic automatic transmission (it covers heavy-duty applications requiring high input horsepower and torque. It contains torque converter module, control module, planetary module and output module. It has 7 forward gears and a power-take -off (PTO) and a retarder), the paper analyzes the shift system of an electronic automatic transmission. To improve the shift quality, in the paper the different control methods in different phases are used and reviewed that include the open-loop control, fixed ramp rate, and closed-loop control. According to using CAN bus, itpsilas not only feasible to use CAN network following SAE J1939 standard, but also can meet the requirements of the communication control in the vehicular integrated power-train control system. At last, through a bench test, the control strategy and integrated power-train control system of shifting process of the engine and electronic automatic transmission were obtained. Finally, though a bench test, the control strategy of the electronic automatic transmission was obtained.

Research on control strategy and integrated power-train system as shifting progress

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The research of hydraulic quadruped bionic robot design

Research on Control Strategy of Shifting Progress

The modeling and controlling of electrohydraulic actuator for quadruped robot based on fuzzy Proportion Integration Differentiation controller

Research on control strategy and integrated power-train system as shifting progress