NDLI: The use of a hydraulic DC-DC converter in the actuation of a robotic leg

Content Provider	IEEE Xplore Digital Library
Author	Peng, S. Kogler, H. Guglielmino, E. Scheidl, R. Branson, D.T. Caldwell, D.G.
Copyright Year	2013
Description	Author affiliation: Inst. of Machine Design & Hydraulic Drives, Johannes Kepler Univ. Linz, Linz, Austria (Kogler, H.; Scheidl, R.) \|\| Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy (Peng, S.; Guglielmino, E.; Caldwell, D.G.) \|\| Univ. of Nottingham, Nottingham, UK (Branson, D.T.)
Abstract	This paper presents the application of a hydraulic DC-DC converter, namely a step down Buck Converter to the actuation of a robot leg that is part of the quadruped robot HyQ. The use of a Hydraulic Buck Converter (HBC) offers significant advantages in terms of improved efficiency of hydraulic actuation systems analogously to an electric switching DC-DC converter as opposed to a rheostatic-type system. In this paper, a HBC consisting of two digital valves and two check valves is introduced to improve the efficiency performance of a singl leg of a hydraulic quadruped robot (HyQ). This type of hydraulic buck converter is able to support the locomotion in two directions. The HBC operates at a switching frequency of 100 Hz in pulse-width-modulation. The better energy performance compared to proportional control is achieved by the use of fast check valves. The performance of the system with a 3-way-4-position proportional valve is compared with the HBC drive. A test rig is set up to investigate the performance of HBC with two different controllers and a Hydraulic Proportional Drive (HPD) system, based on proportional valves which control flow, by throttling it, in a dissipative manner. The performance of position tracking and energy consumption is evaluated. The experimental results indicate that HBC systems can achieve similar position tracking with relatively less consumed energy.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	5859
Ending Page	5864
File Size	782780
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697205
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Valves Legged locomotion Switches Robot kinematics Switching frequency
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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