Research Of Key Technologies Of Hydraulic Actuated Biped Robot

Biped robot has excellent ability of adaption to versatile terrains. It canstatically stand up stable with least legs among legged robots. The legs of bipedrobot and those of human has much in common, therefore we can acquire helpfulinformation through measurement and observation of human motion. Theinformation can be exploited for statistics and a nalys is, and inspire us to do furtherresearch. After a long period of development of human society, the environmenthuman subsist on has been highly people-oriented. Infrastructure, build ings, ect areall designed for the consideration of people’s convenience, so human-like robot cannot only integrate into the human society, serve people, but also have an appearanceaffinity. Most biped robots adopt motor as actuator. However, motor has beenproved to be inappropriate through many practice. One disadvantage lies in thatmotor has low power density. And its immunity to electromagnetic is weak andhence is inappropriate for wild use. To enchance the strength of robot’s legs, thepower of motor needs to be increased. But joint weight also incr eases with themotor power evelated which makes robot cumbrous instead. Therefore the dynamicperformance of motor-actuated robot is usually poor and its walking velocity isslow. Hydraulic actuated robot owns the potential to promote robot technology. Onegood example is excellent highly dynamic performance and remarkable stability ofPetMan and BigDog from Boston Dynamics. One of the important reasons whyPetMan and BigDog have such a stunning performance is that hydraulic technologyis applied. Hydraulic actuation has the advantage of high force output, high powerdensity, high stiffness and high response.This paper designs an hydraulic actuated biped robot. It has12degrees offreedom, and can walk staight, step aside and turn around. The mechanical structurerefers to human shape and size. This paper assigns the joint degrees of freedom anddesigns reasonable actuatior. Embedded computor is adopted, on which QNXoperating system is installed. Real-time multi-threaded application program runs onQNX, which executes hydraulic servo control and advanced control strategycomputation. The pump’s flow rate and pressure needed are estimated by simulationrobot model and hydraulic actuator is designed. Inverted-pendulum-based gaitplanning is given and is verified practical by simulation. Last, this paper does someexperiment to test load capacity, multi-joint coordinated motion and stable walking.