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Design and Testing of a High Performance Hydraulic Power System for a Legged Locomotion Application

The requirements imposed on the actuation system of an energy-autonomous, six-legged walking vehicle are both unique and rigorous. The analysis, design and testing of such an actuation system for the Adaptive Suspension Vehicle at The Ohio State University is presented. Special attention is given to the synthesis of the general system configuration which is a pump-controlled hydraulic system. Also the selection, design and testing of individual components and systems are presented.