Walking Trajectory Design of Hydraulic Legged Robot with Limited Powered Pump
Kosuke Tani Hiroyuki Nabae Yoshiharu Hirota Gen Endo Koichi Suzumori Kosuke Tani Hiroyuki Nabae Yoshiharu Hirota Gen Endo Koichi Suzumori
A hydraulic drive system can generate a large force and is impact resistant. Thus, robots that utilize hydraulic drive systems have been developed for use in disaster areas. In a hydraulic drive system, it is necessary to design the motion of the robot within the capacity of the pump unit, but it is generally difficult to predict the required flow rate and pressure. Especially for hydraulically dr...