System Control Simulation And Preliminary Verification Of Hydraulic Quadruped Robot

Hydraulic quadruped robot which has good environmental adaptability, high load capacity, good stability, high maneuverability and many other advantages, is one of the hottest spots in the field of robotics. At the same time, as a typical hydromechatronics system, hydraulic quadruped robot, with cross-disciplinary, complex mathematical model, strong coupling and other characteristics, makes its overall analysis more complex.For this kind of situation, the hydraulic quadruped robot is researched in order to analyze the overall characteristics of hydraulic quadruped robot's hydromechatronics system, firstly the bionic structure, hydraulic system, kinematics and relationship of the hydromechatronics system parameters are deeply analyzed and co-simulation involving mechanics, hydraulics and cybernetics is employed in AMESim and ADAMS based on interfaces. In the co-simulation platform, the track of sine signal has been achieved.Secondly, ellipse like foot trajectory has been designed and the contribution of the accumulator to the whole hydraulic system has been tested in the co-simulation, which illustrated its important role in reducing hydraulic pulsation and stabilizing the system pressure. Bionic foot trajectory inspired by a running cheetah has been designed and compared with the ellipse like trajectory, which showed the advantage of less flow demand in the former. According to the simulation results, the hardware test system has been built with the hardware-in-the-loop simulation equipment based on the existing physical prototype in the laboratory and the track of sine signal as well as the triangle gait has been achieved.Finally, the hydromechatronics co-simulation platform of the hydraulic quadruped robot has been set up and two gaits generated by the designed foot trajectories have been simulated in the cosimulation platform. The kinematics characteristics and the change of the hydraulic system parameters have been analyzed under two different gaits. All these results could be referred in the design and improvement of hydraulic quadruped robots.