足式机器人液压驱动关键技术研究综述

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”.