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Research on Energy Saving of Quadruped Robot Hydraulic System—Variable Oil Supply Presure Control System

Most of today’s hydraulic quadruped robots use a single-pump multi-actuator structure. Due to the dissimilarity of the mechanical characteristics of the joints of the quadruped robot during the movement, the mismatch between the constant pressure oil supply and the pressure required by the system causes considerable energy waste and reduces the system efficiency. Aiming at the phenomenon that the pressure demand of the quadruped robot joint actuator does not match the oil supply pressure, this paper proposes a variable oil supply pressure control strategy. Firstly, through load prediction and anti-cavitation pressure of the hydraulic cylinder, we can determine the minimum supply pressure of the system. Secondly, combined with the actual work requirements of the quadruped robot, two grouping oil supply strategies are proposed, which are joint-based grouping and leg-based grouping. Finally, the simulation and experiment of constant pressure oil supply and variable oil supply pressure control strategies are carried out. Analyze its influence on the control characteristics of the quadruped robot and the energy saving effect. The results of Matlab/Simulink, ADAMS and AMEsim co-simulation and single leg experiment show that the grouping oil supply strategy based on variable oil supply pressure can achieve good energy saving effect without affecting the control performance of the quadruped robot.