足式机器人液压驱动关键技术研究综述  

Review of Hydraulic Driven Key Technologies for Legged Robots

作　　者：俞滨[1,2,3] 李化顺 黄智鹏 何小龙 巴凯先 史亚鹏[1,2,3] 孔祥东 YU Bin;LI Huashun;HUANG Zhipeng;HE Xiaolong;BA Kaixian;SHI Yapeng;KONG Xiangdong(School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004;State Key Laboratory of Crane Technology,Yanshan University,Qinhuangdao 066004;National Engineering Research Center for Local Joint of Advanced Manufacturing Technology and Equipment,Yanshan University,Qinhuangdao 066004)

机构地区：[1]燕山大学机械工程学院,秦皇岛066004 [2]燕山大学起重机械关键技术全国重点实验,室秦皇岛066004 [3]燕山大学先进制造成形技术及装备国家地方联合工程研究中心,秦皇岛066004

出　　处：《机械工程学报》2023年第19期81-110,共30页Journal of Mechanical Engineering

基　　金：国家自然科学基金优秀青年基金(52122503);国家重点研发计划(2018YFB2000700);河北省优秀青年科学基金(E2022203095)资助项目。

摘　　要：足式机器人以自然界亿万年进化而成的哺乳动物、足式爬行动物或昆虫等足式生物为仿生原型,兼具足式生物肢体运动的灵活性和野外多种复杂地形的适应性,特别是与具备高功重比和快速响应能力优势的液压驱动相结合,大幅提升其运动性能和负重能力。首先,介绍足式机器人应用背景及其液压驱动基本原理,分析液压驱动在足式机器人设计与控制中的重要作用,列举现已公开的国内外多种形式液压足式机器人。其次,阐述近年来国内外研究机构针对足式机器人液压驱动单元、液压动力单元和液压控制方法三方面关键技术,取得的研究进展和研究成果。最后,从与仿生学深入融合的角度,提出了液压足式机器人腿部“肌骨”一体化仿生设计、机身“内脏”紧凑式仿生排布与控制“神经”多层级仿生融合的前沿发展趋势。Legged robots are based on footed creatures such as mammals,reptiles or insects that have evolved over billions of years in nature,and they have both limbs motion flexibility and uneven terrain adaptability that are comparable to those of legged animals.When combined with hydraulic driven that has the advantages of high power-to-weight ratio and fast response,its motion performance and load-carrying capacity can be greatly improved.This paper firstly introduces the background and basic principles of hydraulic driven of legged robots,analyzes the important role of hydraulic driven in the design and control of legged robots,and lists various forms of hydraulic legged robots that have been publicly reported both domestically and internationally.Secondly,recent research contents and achievements on key technologies in hydraulic driven units,hydraulic power units,and hydraulic control methods for legged robots from both domestic and international research institutions have been elaborated.Finally,based the deep integration with bionics,the future development trend of hydraulic legged robots is proposed,including the integrated bionic design of the leg’s“muscles and bones”,the compact bionic layout of the trunk“internal organs”,and the multi-level bionic integration of the control“nerves”.

关 键 词：足式机器人 液压驱动 液压驱动单元 液压动力单元 液压控制方法 

分 类 号：TH137[机械工程—机械制造及自动化]