【摘要】 针对液压四足机器人结构布局混乱、能量损失大及控制策略复杂等问题,从机器人整机、液压系统和控制策略3个角度分析了液压四足机器人的研究现状。首先,对各团队的机器人进行介绍,指出国内外的技术差距;然后,从动力来源、系统类型、液压回路和伺服执行元件4个方面对液压系统的主要2大构成分别阐述,着重介绍了以节能为目的的阀控系统和集成化、一体化的伺服执行器;接着概述了主流的几种控制策略,并分析各自的优缺点;最后,指出液压四足机器人的发展方向将集中在高速高压化、轻量化、节能降噪以及先进的控制算法,以实现液压四足机器人的高动态性能和行业应用。更多还原

【Abstract】 Aiming at the current problems of the hydraulically actuated quadruped robot, such as chaotic structure, large energy loss and complex control strategy, the research status of quadruped robot is analyzed from the robot, hydraulic system and control strategy. Firstly, the robot of each team is introduced, and the technological gap between China and developed countries is pointed out. Then, the main two components of the hydraulic system are described from four aspects: power source, system types, hydraulic circuit and servo actuator, during which the energy saving system and highly integrated servo actuator are introduced in details. Then several mainstream control strategies are summarized, and their respective advantages and disadvantages are pointed out. Finally, the future trends of hydraulically actuated quadruped robot will concentrate on high speed, high pressure, lightweight, energy-saving system, noise reduction and advanced control algorithm, so as to realize the high dynamic performance and industrial application.更多还原