Development of the lightweight hydraulic quadruped robot - MiniHyQ

Hamza Khan; Satoshi Kitano; Marco Frigerio; Marco Camurri; Victor Barasuol; Roy Featherstone; Darwin G. Caldwell; Claudio Semini

doi:10.1109/TePRA.2015.7219671

Development of the lightweight hydraulic quadruped robot - MiniHyQ

Hamza Khan, Satoshi Kitano, Marco Frigerio, Marco Camurri, Victor Barasuol, Roy Featherstone, Darwin G. Caldwell, Claudio Semini

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

37 Citations (Scopus)

Abstract

This paper presents the development of the lightweight hydraulic quadruped robot MiniHyQ. To the authors' best knowledge, MiniHyQ is the lightest and smallest hydraulic quadruped robot that has been built so far. MiniHyQ is a fully torque controlled robot. It has reconfigurable leg configurations. It has wide joint range of motion and an onboard compact power pack. The robot has almost the same leg length as the previous robot (HyQ [1], built by our group), but its link segment lengths are 15% less in flex configuration, due to the special isogram knee joint mechanism. Its weight is only 35kg (24kg with an offboard pump unit), which makes it portable by one person. To achieve this lightweight, miniature hydraulic actuators were carefully selected, allowing us to reduce the required pump size inside the torso. By using a hydraulic rotary actuator for the hip and linear actuators with isogram mechanism for the knee joint, a wider range of motion is achieved, allowing a self-righting motion. For the design validation and hardware testing, series of experiments are conducted on MiniHyQ single leg.

Original language	English
Title of host publication	2015 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015
Publisher	IEEE Computer Society
Pages	1-6
Number of pages	6
Volume	2015-August
ISBN (Electronic)	9781479987573, 9781479987573
DOIs	https://doi.org/10.1109/TePRA.2015.7219671
Publication status	Published - 27 Aug 2015
Event	IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015 - Woburn, United States Duration: 11 May 2015 → 12 May 2015

Conference

Conference	IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015
Country/Territory	United States
City	Woburn
Period	11/05/15 → 12/05/15

Keywords

Actuators
Joints
Knee
Legged locomotion
Robot sensing systems
Torque

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications
Computer Science Applications
Computer Vision and Pattern Recognition
Electrical and Electronic Engineering

Access to Document

10.1109/TePRA.2015.7219671

Cite this

Khan, H., Kitano, S., Frigerio, M., Camurri, M., Barasuol, V., Featherstone, R., Caldwell, D. G., & Semini, C. (2015). Development of the lightweight hydraulic quadruped robot - MiniHyQ. In 2015 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015 (Vol. 2015-August, pp. 1-6). Article 7219671 IEEE Computer Society. https://doi.org/10.1109/TePRA.2015.7219671

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title = "Development of the lightweight hydraulic quadruped robot - MiniHyQ",

abstract = "This paper presents the development of the lightweight hydraulic quadruped robot MiniHyQ. To the authors' best knowledge, MiniHyQ is the lightest and smallest hydraulic quadruped robot that has been built so far. MiniHyQ is a fully torque controlled robot. It has reconfigurable leg configurations. It has wide joint range of motion and an onboard compact power pack. The robot has almost the same leg length as the previous robot (HyQ [1], built by our group), but its link segment lengths are 15% less in flex configuration, due to the special isogram knee joint mechanism. Its weight is only 35kg (24kg with an offboard pump unit), which makes it portable by one person. To achieve this lightweight, miniature hydraulic actuators were carefully selected, allowing us to reduce the required pump size inside the torso. By using a hydraulic rotary actuator for the hip and linear actuators with isogram mechanism for the knee joint, a wider range of motion is achieved, allowing a self-righting motion. For the design validation and hardware testing, series of experiments are conducted on MiniHyQ single leg.",

keywords = "Actuators, Joints, Knee, Legged locomotion, Robot sensing systems, Torque",

author = "Hamza Khan and Satoshi Kitano and Marco Frigerio and Marco Camurri and Victor Barasuol and Roy Featherstone and Caldwell, {Darwin G.} and Claudio Semini",

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booktitle = "2015 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015",

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Khan, H, Kitano, S, Frigerio, M, Camurri, M, Barasuol, V, Featherstone, R, Caldwell, DG & Semini, C 2015, Development of the lightweight hydraulic quadruped robot - MiniHyQ. in 2015 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015. vol. 2015-August, 7219671, IEEE Computer Society, pp. 1-6, IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015, Woburn, United States, 11/05/15. https://doi.org/10.1109/TePRA.2015.7219671

Development of the lightweight hydraulic quadruped robot - MiniHyQ. / Khan, Hamza; Kitano, Satoshi; Frigerio, Marco et al.
2015 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015. Vol. 2015-August IEEE Computer Society, 2015. p. 1-6 7219671.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - This paper presents the development of the lightweight hydraulic quadruped robot MiniHyQ. To the authors' best knowledge, MiniHyQ is the lightest and smallest hydraulic quadruped robot that has been built so far. MiniHyQ is a fully torque controlled robot. It has reconfigurable leg configurations. It has wide joint range of motion and an onboard compact power pack. The robot has almost the same leg length as the previous robot (HyQ [1], built by our group), but its link segment lengths are 15% less in flex configuration, due to the special isogram knee joint mechanism. Its weight is only 35kg (24kg with an offboard pump unit), which makes it portable by one person. To achieve this lightweight, miniature hydraulic actuators were carefully selected, allowing us to reduce the required pump size inside the torso. By using a hydraulic rotary actuator for the hip and linear actuators with isogram mechanism for the knee joint, a wider range of motion is achieved, allowing a self-righting motion. For the design validation and hardware testing, series of experiments are conducted on MiniHyQ single leg.

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ER -

Development of the lightweight hydraulic quadruped robot - MiniHyQ

Abstract

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Keywords

ASJC Scopus subject areas

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