HyQ - Design and Development of a Hydraulically Actuated Quadruped Robot
HyQ - Design and Development of a Hydraulically Actuated Quadruped Robot
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作者：
C. Semini
腿式机器人在粗糙和非结构化的地形中比轮式车辆具有更大的机动性。在未来，特别是四足机器人预计将被用于各种危险和肮脏的任务领域，如搜索和救援，人道主义排雷等。本论文的目的是作出重大贡献的发展，一个高动态的四足机器人。这个多功能平台旨在作为一种工具，以加深对地面运动的理解，评估不同的液压驱动系统的适用性腿式机器人，并促进未来建设有用的机器人的各种任务。为此，本文：1.提出了几个设计研究，旨在创造一个四足机器人。2.描述了液压驱动原型腿的设计和实验测试，重点是其致动器单元。3.解释了四足机器人平台的结构，包括所有的电气和液压系统组件。这款名为HyQ的四足机器人拥有12个主动自由度，旨在执行跳跃和跑步等高度动态任务。因此，机器人的关节由液压或电动执行器提供动力，这取决于其特定的性能和性能要求。虽然液压缸具有出色的功率重量比，并在运行和跳跃过程中自然吸收冲击力峰值，但电动机具有紧凑的整体尺寸，并具有恒定的输出扭矩曲线。因此，液压缸驱动髋部和膝部
Legged machines promise greater mobility in rough and unstructured terrain then wheeled vehicles. In the future, especially quadruped robots are expected to be employed for a variety of dangerous and dirty tasks in fields like search and rescue, humanitarian demining etc. The objective of this dissertation is to make a significant contribution toward the development of a highly dynamic quadruped robot. This versatile platform is intended to serve as a tool to deepen the understanding of terrestrial locomotion, to assess the applicability of different hydraulic actuation systems to legged robots and to facilitate the future construction of useful robots for various tasks. To this end, this dissertation: 1. presents several design studies aimed at the creation of a quadruped robot. 2. describes the design and experimental testing of a hydraulically powered prototype leg with a focus on its actuator units. 3. explains the construction of the quadruped robot platform including all electric and hydraulic system components. The developed quadruped robot called HyQ features 12 active degrees of freedom and is designed to perform highly dynamic tasks like jumping and running. Therefore, the robot’s joints are either powered by hydraulic or electric actuators, depending on their particular performance and property requirements. While hydraulic cylinders have an excellent power to weight ratio and naturally absorb impact force peaks during running and jumping, electric motors have compact overall dimensions and exhibit a constant output torque profile. Therefore, hydraulic cylinders actuate the hip and knee