It is difficult for a humanoid leg driven by two groups of antagonistic pneumatic muscles
(PMs) to achieve a flexible humanoid gait, and its inherent strong coupling nonlinear …

A motion control approach is proposed for hydraulic actuated quadruped robots, aiming to
achieve active compliance and robust motion control. The approach is designed with a …

In order to solve the problem of horizontal vibration of high-speed elevator caused by rail
roughness, in this paper, the active control strategy of horizontal vibration suppression of …

The previous research regarding the gait planning of quadruped robot focuses on the
sequence for lifting off and placing the feet, but neglects the influence of body height …

Quadruped robots can mimic animal locomotion mode and have great potential usage in
unstructured environments. However, as mobile platforms, quadruped robots often lack …

A hydraulic servo actuator with passive compliance (HPCA) is designed for hydraulic
actuated quadruped robots, aiming to solve the response discrepancy of the low-bandwidth …

In order to reduce the impact force of the legged hydraulic-robot when it is driving on the
ground, a new method based on magnetorheological technology is proposed for damping …

Hydraulic legged mobile manipulators are favored because they provide high power density
and a strong explosive force. Hydraulic mobile manipulators require contact force control to …

The passive compliance plays a crucial role in steady and secure locomotion of the legged
mammal. This paper aims to introduce the elastic element into the traditional high rigid leg …

This work presents a high energy efficiency onboard hydraulic system for quadruped robot.
Firstly, based on the rhythmic motion and mechanical characteristics of leg joints, the energy …