Energy efficient fluid power in autonomous legged robotics

Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009

Volumn , Issue PART B, 2010, Pages 1759-1766

  Guglielmino, Emanuele ^a   Semini, Claudio ^a   Yang, Yousheng ^a   Caldwell, Darwin ^a   Kogler, Helmut ^b   Scheidl, Rudolf ^b  

^a ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

^b JOHANNES KEPLER UNIVERSITY LINZ   (Austria)

Author keywords

[No Author keywords available]

Indexed keywords

ENERGY CONSERVATION; HYDRAULIC DRIVES; ROBOTICS; SWITCHING SYSTEMS;

AUTONOMOUS ROBOTICS; ENERGY EFFICIENCY ASSESSMENT; ENERGY EFFICIENT; HIGH POWER DENSITY; HYDRAULIC ACTUATION; HYDRAULIC ACTUATION SYSTEMS; ROBOTIC LOCOMOTIONS; SWITCHING CONTROL;

ENERGY EFFICIENCY;

EID: 77953791576     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DSCC2009-2522     Document Type: Conference Paper

References (16)

1. Liston, R. A., Mosher, R. S., 1968. "A Versatile Walking Truck". Transportation Engineering Conference.
2. Hyon S-H., Cheng, G., 2007. "Simultaneous adaptation to rough terrain and unknown external forces for biped humanoids". IEEE-RAS 7th International Conference on Humanoid Robots (Humanoids 07), Pittsburgh, PA, USA.
3. Bentivegna, D. C., Atkeson C. G., and Kim, J-Y., 2007. "Compliant Control of a hydraulic humanoid joint". IEEE-RAS 7th International Conference on Humanoid Robots (Humanoids 07), Pittsburgh, PA, USA.
4. Raibert, M., Brown, H. J., and Chepponis, M., 1984. "Experiments in balance with a 3D one-legged hopping machine". International Journal of Robotics Research, 3(2), pp. 75-92. (Pubitemid 14604296)
5. Raibert, M. H., 1986. Legged Robots That Balance, The MIT Press.
6. Hyon, S., Emura T., and Mita, T., 2003. "Dynamics-based control of one-legged hopping robot". Journal of Systems and Control Engineering, 217(2), April, pp. 83-98.
7. th World Congress. The International Federation of Automatic Control, Seoul, Korea, pp. 10822-10825.
8. Kogler, H., Scheidl, R., 2008. "Two Basic Concepts of Hydraulic Switching Converters". The First Workshop on Digital Fluid Power, Tampere, Finland.
9. Mohan, N., Undeland, T. M., and Robbins, W. P., 1995. Power electronics: converters, applications and design, Wiley.
10. Jaegger, G., Marcellin-Little D., and Levine, D., 2002. "Reliability of Goniometry in Labrador Retrievers". AJVR, 63(7), pp. 979-986.
11. Semini, C., Tsagarakis, N. G., Vanderborght, B., Yang Y., & Caldwell, D. G., 2008. "HyQ - Hydraulically Actuated Quadruped Robot: Hopping Leg Prototype", IEEE/RAS Int. Conf. on Biomedical Robotics and Biomechatronics (Biorob), pp. 593-599.
12. Manhartsgruber B., 2006. "On the Passivity of a Galerkin Finite Element Model for Transient Flow in Hydraulic Pipelines". Journal of Systems and Control Engineering, Vol. 220 (3), pp. 223-237.
13. Manhartsgruber B., Haas R., hydroLib3 - hydraulic simulation library for Simulink; Institute of Machine Design and Hydraulic Drives, Johannes Kepler University Linz; free download at http://imh.jku.at/ftp/index.en.php
14. nd International Conference on Computational Methods in Fluid Power, FPNI'06, August 2-3, 2006, Aalborg, Denmark.
15. Mairhofer M., 2007. "Theoretische und experimentelle Optimierung eines schnellschaltenden hydraulischen Antriebes". Master's thesis, Linz University.
16. Plöckinger A., Winkler B., Scheidl R., 2009. "Development and Prototyping of a Compact, Fast 3/2 Way Switching Valve with Integrated Onboard Electronics". Proceedings of 11th Scandinavian International Conference on Fluid Power, SICFP'09, June 2-4, 2009, Linköping, Sweden.