HYDRAULIC

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Active Disturbance Rejection Control of Hydraulic Quadruped Robots Rotary Joints for Improved Impact Resistance
《Chinese Journal of Mechanical Engineering》2024年第5期439-452,共14页Huaizhi Zong Zhixian Yang Xiu Yu Junhui Zhang Jikun Ai Qixin Zhu Feng Wang Qi Su Bing Xu 
Supported by National Natural Science Foundation of China(Grant No.U21A20124);China Postdoctoral Science Foundation(Grant Nos.2023T160570,2022M722737);the Key Research and Development Program of Zhejiang Province of China(Grant No.2022C01039).
Hydraulic actuated quadruped robots have bright application prospects and significant research values in unmanned area investigation,disaster rescue and other scenarios,due to the advantages of high payload and high p...
关键词：Quadruped robot Active disturbance rejection control Extended state observer Impact resistance Hydraulic rotary actuator 
Light weight design and integrated method for manufacturing hydraulic wheel-legged robots
《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》2024年第9期701-715,共15页Xu LI Haoyang YU Huaizhi ZONG Haibo FENG Yili FU 
Heilongjiang Provincial Youth Science and Technology Talent Support Project(No.2023QNTJ008);Self-Planned Task of State Key Laboratory of Robotics and System from Harbin Institute of Technology(HIT)(No.SKLRS 202301A03);Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems(No.GZKF-202203),China.
Design and manufacturing play pivotal roles in hydraulic-driven robotic development.However,previous studies have emphasized mainly results and performance,often overlooking the specifics of the design and manufacturi...
关键词：Wheel-legged robot Hydraulic driven Topology optimization Wheel-legged robot Hydraulic driven Topology optimization Additive manufacturing(AM) Jump control 
Optimal Energy Efficiency Based High-speed Flying Control Method for Hydraulic Quadruped Robot
《Journal of Bionic Engineering》2024年第3期1156-1173,共18页Qingjun Yang Zhenyang Zhang Rui Zhu Dianxin Wang 
Herein,a control method based on the optimal energy efficiency of a hydraulic quadruped robot was proposed,which not only realizes the optimal energy efficiency of flying trot gait but also ensures the stability of hi...
关键词：Hydraulic quadruped robot Flying trot Energy efficiency Active compliance control 
Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown object被引量：1
《Frontiers of Mechanical Engineering》2024年第1期35-52,共18页Bolin SUN Min CHENG Ruqi DING Bing XU 
supported by the National Natural Science Foundation of China(Grant Nos.52075055 and U21A20124);the Strategic Basic Product Project from the Ministry of Industry and Information Technology,China(Grant No.TC220H064).
Given the limited operating ability of a single robotic arm,dual-arm collaborative operations have become increasingly prominent.Compared with the electrically driven dual-arm manipulator,due to the unknown heavy load...
关键词：hydraulic dual-arm manipulator compliance motion control unknown object adaptive mass estimation nonlinear control 
Performance Analysis and Flexible Control of a Novel Ball Double-screw Hydraulic Robot Knee Joint
《Journal of Bionic Engineering》2023年第5期2147-2163,共17页Jie Shao Yongming Bian Meng Yang Guangjun Liu 
supported by the Top Discipline Plan of Shanghai Universities-Class I,the National Natural Science Foundation of China(52205279);the China National Postdoctoral Program for Innovative Talents(BX20190242);the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems(GZKF-202017);the Open Foundation of the National Engineering Technology Research Center for Prefabrication Construction in Civil Engineering(2021CPCCE-K02).
Focusing on the ball double-screw hydraulic knee joint as the research object,this paper analyzes the load driving performance of the hydraulic knee joint.Taking the posture data of the human body such as walking,squa...
关键词：Bionic robot Ball double-screw hydraulic joint Robot knee joint Performance analysis Humanoid motion control Flexible control 
Output feedback control and parameters influence analysis of active suspension electro-hydraulic servo actuator
《High Technology Letters》2023年第2期159-165,共7页张伟 ZHAO Dingxuan GONG Mingde 
Supported by the National Natural Science Foundation of China (No. U20A20332, 52175063);Hebei Province PhD Graduate Innovation Funding Project (No. CXZZBS2021121)。
The hydraulic servo actuator of heavy vehicle active suspension is investigated to clarify the correlation between system parameters and the control characteristics of active suspension hydraulic servo system.Accordin...
关键词：active suspension NONLINEAR hydraulic servo actuator output feedback 
Design and Control for WLR-3P:A Hydraulic Wheel-Legged Robot被引量：1
《Cyborg and Bionic Systems》2023年第1期243-259,共17页Xu Li Haoyang Yu Haibo Feng Songyuan Zhang Yili Fu 
supported by the Innovative Research Groups of the National Natural Science Foundation of China(51521003);the Natural Science Foundation of Heilongjiang Province of China(YQ2021F011);Key Research Project of Zhejiang Lab(no.115002-AC2101);funded by Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems。
The robot used for disaster rescue or field exploration requires the ability of fast moving on flat road and adaptability on complex terrain.The hybrid wheel-legged robot(WLR-3P,prototype of the third-generation hydra...
关键词：ROBOT ROBOT TERRAIN 
One Novel Hydraulic Actuating System for the Lower-Body Exoskeleton被引量：5
《Chinese Journal of Mechanical Engineering》2021年第1期20-29,共10页Maowen Sun Xiaoping Ouyang Jouni Mattila Huayong Yang Gang Hou 
Supported by Nati onal Key R&D Program of China(Grant No.2018YFB1305400,2018YFB1305402);National Natural Science Foundation of China(Grant No.518902883);Fun dame ntal Resea rch Funds for the Central Universities(Grant No.2018XZZX001-04).
The hydraulic exoskeleton is one research hotspot in the field of robotics,which can take heavy load due to the high power density of the hydraulic system.However,the traditional hydraulic system is normally centraliz...
关键词：Hydraulic actuating system(HAS) Lower-body exoskeletons Lightweight and integrated System identification Working mode test 
Hydraulic cylinder control of injection molding machine based on differential evolution fractional order PID被引量：2
《Journal of Measurement Science and Instrumentation》2020年第4期317-325,共9页LI Ya-qiu GU Li-chen YANG Sha XUE Xu-fei 
National Natural Science Foundation of China(No.51675399)。
Injection molding machine,hydraulic elevator,speed actuators belong to variable speed pump control cylinder system.Because variable speed pump control cylinder system is a nonlinear hydraulic system,it has some proble...
关键词：variable speed pump-controlled cylinder fractional order proportion-integration-differentiation(FOPID) self-adaptive differential evolution(SADE) injection molding machine control anti-load disturbance 
Force-controlled Compensation Scheme for P-Q Valve-controlled Asymmetric Cylinder used on Hydraulic Quadruped Robots被引量：2
《Journal of Bionic Engineering》2020年第6期1139-1151,共13页Yapeng Shi Mantian Li Fusheng Zha Lining Sun Wei Guo Cong Ma Zhibin Li 
This work was supported by National Natural Science Foundation of China(No.61773139);Shenzhen Special Fund for Future Industrial Development(No.JCYJ20160425150757025);Shenzhen Science and Technology Program(No.KQTD2016112515134654).
Under the requirement of the force controller of hydraulic quadruped robots,the goal of this work is to accurately track the force commands at the level of the hydraulic drive unit.The main contribution focuses on the...
关键词：hydraulic drive unit force tracking P-Q valve-controlled asymmetric cylinder hydraulic quadruped robot 
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