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A new bionic hydraulic actuator system for legged robots with impact buffering, impact energy absorption, impact energy storage, and force burst

Published online by Cambridge University Press:  03 December 2021

Jiaqi Li Open the ORCID record for Jiaqi Li [Opens in a new window] ,
Dacheng Cong ,
Yu Yang  and
Zhidong Yang
Jiaqi Li*
Affiliation:
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, Heilongjiang Province, China
Dacheng Cong
Affiliation:
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, Heilongjiang Province, China
Yu Yang
Affiliation:
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, Heilongjiang Province, China
Zhidong Yang
Affiliation:
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, Heilongjiang Province, China
*
*Corresponding author. E-mail: l20132010@126.com
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Abstract

It is a big challenge for bionic legged robots to realize desired jumping heights and forward-running speeds, let alone achieve springbok-style jump-running. A key limitation is that there is no actuator system that can mimic the springbok’s muscle system to drive leg–foot system movements. In this paper, we analyze the movement process of springboks and summarize some key characteristics of actuator systems. Some key concepts are then identified based on these key characteristics. Next, we propose a new bionic hydraulic joint actuator system with impact buffering, impact energy absorption, impact energy storage, and force burst, which can be applied to various legged robots to achieve higher running speeds, higher jumping heights, longer endurance, heavier loads, and lighter mass.

Keywords

bionic legged robotshydraulic actuatorimpact
Type
Research Article
Information
Robotica , Volume 40 , Issue 7 , July 2022 , pp. 2485 - 2502
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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