Analysis and Verification on Energy Consumption of the Quadruped Robot with Passive Compliant Hydraulic Servo Actuator

The hydraulic servo actuator with passive compliance (HPCA) is designed for hydraulically-driven quadruped robots. It is characterized by an accumulator that connects to the piston chamber of the hydraulic cylinder to buffer impact forces between a robot’s feet and the ground. This paper s...

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Bibliographic Details

Published in:	Applied Sciences
Main Authors:	Zisen Hua, Xuewen Rong, Yibin Li, Hui Chai, Bin Li, Shuaishuai Zhang
Format:	Article
Language:	English
Published:	MDPI AG 2020-01-01
Subjects:	hydraulic servo actuator accumulator quadruped robot trotting gait energy efficiency
Online Access:	https://www.mdpi.com/2076-3417/10/1/340