Development of the Lightweight Hydraulic Quadruped Robot - MiniHyQ (TEPRA'15)
Development of the Lightweight Hydraulic Quadruped Robot - MiniHyQ
Hamza Khan, Satoshi Kitano, Michele Frigerio, Marco Camurri, Victor Barasuol, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
IEEE International Conference on Technologies for Practical Robot Applications 2015
Abstract— This paper presents the development of the lightweight hydraulic quadruped robot MiniHyQ. To the authors’ best knowledge, MiniHyQ is the lightest and smallest hydraulic quadruped robot that has been built so far. MiniHyQ is a fully torque controlled robot. It has reconfigurable leg configurations. It has wide joint range of motion and an onboard compact power pack. The robot has almost the same leg length as the previous robot (HyQ [1], built by our group), but its link segment lengths are 15% less in flex configuration, due to the special isogram knee joint mechanism. Its weight is only 35kg (24kg with an offboard pump unit), which makes it portable by one person. To achieve this lightweight, miniature hydraulic actuators were carefully selected, allowing us to reduce the required pump size inside the torso. By using a hydraulic rotary actuator for the hip and linear actuators with isogram mechanism for the knee joint, a wider range of motion is achieved, allowing a self-righting motion. For the design validation and hardware testing, series of experiments are conducted on MiniHyQ single leg.
Official paper download link at publisher: http://ieeexplore.ieee.org/document/7....
Pre-prints of all our papers can be found here: http://www.iit.it/hyq (Publications)
The following publications provide the details of several components designed for MiniHyQ:
H. Khan, C. Semini, and D. G. Caldwell, “Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots,”
Int. Conf. on Climbing and Walking Robots (CLAWAR), Jul 2013.
H. Khan, S. Kitano, Y. Gao, D. G. Caldwell, and C. Semini, “Development of a lightweight on-board hydraulic system for a quadruped robot.,” in 14th Scandinavian International Conference on Fluid Power SICFP, 2015.
H. Khan, R. Featherstone, D. G. Caldwell, and C. Semini, “Bio-inspired
knee joint mechanism for a hydraulic quadruped robot,” in International Conference on Automation, Robotics and Applications (ICARA), 2015.
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