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Design of HyQ – a hydraulically and electrically actuated quadruped robot
Abstract
A new versatile hydraulically powered quadruped robot ( HyQ ) has been developed to serve as a platform to study not only highly dynamic motions, such as running and jumping, but also careful navigation over very rough terrain. HyQ stands 1 m tall, weighs roughly 90 kg, and features 12 torque-controlled joints powered by a combination of hydraulic and electric actuators. The hydraulic actuation permits the robot to perform powerful and dynamic motions that are hard to achieve with more traditional electrically actuated robots. This paper describes design and specifications of the robot and presents details on the hardware of the quadruped platform, such as the mechanical design of the four articulated legs and of the torso frame, and the configuration of the hydraulic power system. Results from the first walking experiments are presented, along with test studies using a previously built prototype leg.
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Cited by
Learning agile and dynamic motor skills for legged robots
Hwangbo, J., Lee, J., Dosovitskiy, A., Bellicoso, D., Tsounis, V., Koltun, V., & Hutter, M. (2019) · Science Robotics · doi:10.1126/scirobotics.aau5872 · Cited by 1,482
ANYmal - a highly mobile and dynamic quadrupedal robot
Hutter, M., Gehring, C., Jud, D., Lauber, A., Bellicoso, C. D., Tsounis, V., Hwangbo, J., Bodie, K., Fankhauser, P., Bloesch, M., et al. (2016) · 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7758092 · Cited by 969
Learning to Walk Via Deep Reinforcement Learning
Haarnoja, T., Ha, S., Zhou, A., Tan, J., Tucker, G., & Levine, S. (2019) · Robotics: Science and Systems XV · doi:10.15607/rss.2019.xv.011 · Cited by 430
ANYmal - toward legged robots for harsh environments
Hutter, M., Gehring, C., Lauber, A., Gunther, F., Bellicoso, C. D., Tsounis, V., Fankhauser, P., Diethelm, R., Bachmann, S., Bloesch, M., et al. (2017) · Advanced Robotics · doi:10.1080/01691864.2017.1378591 · Cited by 341
High-speed bounding with the MIT Cheetah 2: Control design and experiments
Park, H.-W., Wensing, P. M., & Kim, S. (2017) · The International Journal of Robotics Research · doi:10.1177/0278364917694244 · Cited by 267
Metadata
- Authors
- Semini, C., Tsagarakis, N. G., Guglielmino, E., Focchi, M., Cannella, F., & Caldwell, D. G.
- Venue
- Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
- Publisher
- SAGE Publications
- Published
- 2011-08
- Volume
- 225
- Issue
- 6
- Pages
- 831-849
- ISSN
- 0959-6518 (ISSN-L)
- 2041-3041
- OpenAlex
- W2111904757
- Cited by
- 630
- References
- 0
- FWCI
- 13.86
- Type
- journal article
- Language
- en
- Open access
- closed
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- Semini, C., Tsagarakis, N. G., Guglielmino, E., Focchi, M., Cannella, F., & Caldwell, D. G. (2011). Design of HyQ – a hydraulically and electrically actuated quadruped robot. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. https://doi.org/10.1177/0959651811402275
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