Zhejiang Lab, 1818 West Wenyi Road, Hangzhou, 311121, Zhejiang, People's Republic of China.
Zhejiang University, 38 Zheda Road, Hangzhou, 310027, Zhejiang, People's Republic of China.
Sci Rep. 2023 Jan 2;13(1):60. doi: 10.1038/s41598-022-26852-1.
Biped robots have attracted increasing attention because of their flexible movement and strong adaptability to the surroundings. However, the small output torque and the weak impact resistance of the motor drive, as well as the large energy consumption of the hydraulic drive limit the performance of the biped robot drive system. Aiming at these shortcomings, an electric-hydraulic hybrid drive system of biped robot was proposed in this paper. The robot platform was designed based on the prototype of the Zhejiang Lab biped robot. The model of the hydraulic drive system and mechanical structure was established to analyze the dynamic characteristic and the load force during walking. The value function reflecting the energy consumption of the hydraulic drive system was proposed. The pressure of the accumulator in the hydraulic power unit was selected as the control parameter. In order to get the minimum value of the value function, so as to reduce the energy consumption of the hydraulic driving system, the control parameters were optimized by using the genetic algorithm. From the simulation results, the proposed optimization algorithm can improve efficiency by 3.49%.
双足机器人因其灵活的运动和对周围环境的强适应性而引起了越来越多的关注。然而，电机驱动的小输出扭矩和弱抗冲击性以及液压驱动的大能耗限制了双足机器人驱动系统的性能。针对这些缺点，本文提出了一种双足机器人的电液混合驱动系统。机器人平台基于浙江实验室双足机器人的原型进行设计。建立了液压驱动系统和机械结构的模型，以分析行走过程中的动态特性和负载力。提出了反映液压驱动系统能耗的价值函数。选择液压动力单元中的蓄能器压力作为控制参数。为了使价值函数的最小值，从而降低液压驱动系统的能耗，采用遗传算法对控制参数进行了优化。从仿真结果来看，所提出的优化算法可以提高效率 3.49%。
