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 proceedingConference contribution

    14 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 languageEnglish
    Title of host publication2015 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015
    PublisherIEEE Computer Society
    Pages1-6
    Number of pages6
    Volume2015-August
    ISBN (Electronic)9781479987573, 9781479987573
    DOIs
    Publication statusPublished - 27 Aug 2015
    EventIEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015 - Woburn, United States
    Duration: 11 May 201512 May 2015

    Conference

    ConferenceIEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015
    CountryUnited States
    CityWoburn
    Period11/05/1512/05/15

    Keywords

    • Actuators
    • Joints
    • Knee
    • Legged locomotion
    • Robot sensing systems
    • Torque

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  • 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). [7219671] IEEE Computer Society. https://doi.org/10.1109/TePRA.2015.7219671