Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max

Claudio Semini,Victor Barasuol,Jake Goldsmith,Marco Frigerio,Michele Focchi,Yifu Gao,Darwin G. Caldwell

IEEE/ASME Transactions on Mechatronics（2017）

引用 213|浏览65

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摘要

This paper presents the design of the hydraulically actuated quadruped robot HyQ2Max. HyQ2Max is an evolution of the 80 kg agile and versatile robot HyQ. Compared to HyQ, the new robot needs to be more rugged, more powerful and extend the existing locomotion skills with self-righting capability. Since the robot's actuation system has an impact on many aspects of the overall design/specifications o...

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关键词

Legged locomotion,Actuators,Couplings,Vehicle dynamics,Biological system modeling,Mechatronics

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