The invention discloses a biped robot digital hydraulic energy-saving driving method based on joint working condition multi-quadrant coupling optimization, which relates to the field of biped robot hydraulic driving. An energy efficient conversion mechanism between hydraulic energy and kinetic potential energy of a biped robot hydraulic system is realized by establishing a biped robot finite-statemachine and a joint motion and load working condition map and adopting a multi-objective optimal configuration strategy to be matched with a global optimal working mode of a digital valve bank of thehydraulic system. The method has good biped robot hydraulic driving system analysis and energy-saving driving effects, and the overall energy efficiency value of the robot can be increased.

    本发明公开了一种基于关节工况多象限耦合优化的双足机器人数字液压节能驱动方法。发明涉及到双足机器人液压驱动领域,通过建立双足机器人有限状态机和关节运动、负载工况图谱,采用多目标优化配置策略匹配液压系统数字阀组全局最优工作模式,实现双足机器人液压系统液压能、动势能之间的能量高效转换机制。该发明具有较好的双足机器人液压驱动系统分析和节能驱动效果,有利于提高机器人整体能效值。


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    Title :

    Biped robot digital hydraulic driving method based on joint working condition multi-quadrant coupling


    Additional title:

    基于关节工况多象限耦合的双足机器人数字液压驱动方法


    Contributors:
    XIE ANHUAN (author) / CHENG LIBO (author) / ZHANG DAN (author) / ZHU SHIQIANG (author)

    Publication date :

    2020-05-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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