HyQ - Hydraulically Actuated Quadruped Robot: Hopping Leg Prototype

被引：59

作者：

Semini, Claudio ^{[1
]}

Tsagarakis, Nikos G. ^{[1
]}

Vanderborght, Bram ^{[1
]}

Yang, Yousheng ^{[1
]}

Caldwell, Darwin G. ^{[1
]}

机构：

[1] Italian Inst Technol, I-16163 Genoa, Italy

来源：

2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2 | 2008年

关键词：

Quadruped Robot; Hydraulic Actuation; Bio-inspired Design; Compliance; STIFFNESS; BALANCE; DESIGN;

D O I：

10.1109/BIOROB.2008.4762913

中图分类号：

Q81 [生物工程学（生物技术）]; Q93 [微生物学];

学科分类号：

071005 ; 0836 ; 090102 ; 100705 ;

摘要：

This paper describes the concept, specifications and design of the biologically inspired quadruped robot HyQ, with special focus on the leg design. The main scope of this new robotic platform is to study highly dynamic tasks such as running and jumping. To meet the specifications in terms of performance and dimensions, hydraulic actuation has been chosen due to its high power to weight ratio and fast response. Guidelines on how to choose the design parameters of the hydraulic cylinders including lever length are reported. A two DOF leg prototype has been designed and constructed. The experimental test setup for the leg prototype is explained and the results of first hopping experiments are reported.

引用

页码：593 / 599

页数：7

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