Browse > Article
http://dx.doi.org/10.7746/jkros.2021.16.2.086

Energy Efficient Control of Onboard Hydraulic Power Unit for Hydraulic Bipedal Robots  

Cho, Buyoun (Mechanical Engineering, KAIST)
Kim, Sung-Woo (Mechanical Engineering, KAIST)
Shin, Seunghoon (Mechanical Engineering, KAIST)
Kim, Min-Su (KAIST)
Oh, Jun-Ho (Mechanical Engineering, KAIST)
Park, Hae-Won (Mechanical Engineering, KAIST)
Publication Information
The Journal of Korea Robotics Society / v.16, no.2, 2021 , pp. 86-93 More about this Journal
Abstract
This paper proposes a controller to regulate the supply pressure of the hydraulic power unit (HPU) for driving a bipedal robot. We establish flow rate models for charging accumulator, actuating joints and leaking from actuators and spool valves. This determines the pump driving motor speed to satisfy the demanded flow rate for operating the bipedal robot without the energy loss caused by the bypass through a pressure regulating valve. We apply proposed controller to an onboard HPU mounted on top of bipedal robot platform with twelve degrees of freedom. We implement air-walking motion and squat motion which require variable flow rate to the bipedal robot. Through this experiment, the energy efficiency of proposed controller was verified by comparing the electric energy consumed when the controller was applied and when the pump operated at constant speed. We also shows the capability of the HPU's control performance to regulate supply pressure.
Keywords
Hydraulic Actuating System; Energy Efficient Control; Bipedal Robot;
Citations & Related Records
연도 인용수 순위
  • Reference
1 E. Guglielmino, C. Semini, Y. Yang, D. Caldwell, H. Kogler, and R. Scheidl, "Energy Efficient Fluid Power in Autonomous Legged Robotics," Dynamic Systems and Control Conference, California, USA, pp. 847-854, 2009, DOI: 10.1115/DSCC2009-2522.   DOI
2 S. Peng, H. Kogler, E. Guglielmino, R. Scheidl, D. T. Branson, and D. G. Caldwell, "The use of a hydraulic DC-DC converter in the actuation of a robotic leg," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 5859-5864, 2013, DOI: 10.1109/IROS.2013.6697205.   DOI
3 G. Wu, J. Yang, J. Shang, Z. Luo, T. Zou, and D. Fang, "On the Design of Energy-Saving Fluid Power Converter," IEEE Access, vol. 8, pp. 27769-27778, 2020, DOI: 10.1109/ACCESS.2020.2971669.   DOI
4 K. Amundson, J. Raade, N. Harding, and H. Kazerooni, "Hybrid hydraulic-electric power unit for field and service robots," 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, AB, Canada, 2005, DOI: 10.1109/IROS.2005.1545452.   DOI
5 Y. Xue, J. Yang, J. Shang, and Z. Wang, "Energy efficient fluid power in autonomous legged robotics based on bionic multi-stage energy supply," Advanced Robotics, vol. 28, no. 21, pp. 1445-1457, 2014, DOI: 10.1080/01691864.2014.946447.   DOI
6 J. Wei, K. Guo, J. Fang, and Q. Tian, "Nonlinear Supply Pressure Control for a Variable Displacement Axial Piston Pump," Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 229, no. 7, pp. 614-624, 2015, DOI: 10.1177/0959651815577546.   DOI
7 A. Akers, M. Gassman, and R. Smith, "Steady state modeling," Hydraulic Power System Analysis, CRC Press, 2006, ch. 3, pp. 31-76, DOI: 10.1201/9781420014587.
8 M. Jelali and A. Kroll, "Physically based modelling," Hydraulic Servo-systems, Springer Nature, 2012, ch. 4, pp. 53-95, DOI: 10.1007/978-1-4471-0099-7.
9 30 SERIES MICRO SERVO VALVES, 2018, [Online], https://www.moog.com/content/dam/moog/literature/ICD/Moog-Valves-30series-datasheet-en.pdf, Accessed: October 5, 2020.