DIGITAL HYDRAULIC DRIVING METHOD FOR BIPEDAL ROBOT, BASED ON MULTI-QUADRANT COUPLING OF JOINT WORKING STATES

摘要

A digital hydraulic driving method for a bipedal robot, based on multi-quadrant coupling of joint working states. By means of establishing a bipedal robot finite state machine and a joint movement and load working state graph, and using a multi-objective optimization allocation strategy to match a global optimum working mode for a hydraulic system digital valve group, a high-efficiency switching mechanism between hydraulic energy and kinetic potential energy for the bipedal robot hydraulic system is implemented. The invention features better hydraulic driving system analysis for the bipedal robot and a better joint driving effect, helping to improve the overall energy efficiency of the robot.