歩行ロボット搭載用電動2 kW油圧パワーユニットの開発

抄録

Quadruped robots are expected to contribute to a variety of applications such as inspection, search and rescue, work support, and transportation due to their mobility and stability. Among them, hydraulic-driven robots are differentiated from electromagnetic-driven quadruped robots in terms of their large payload and ability to carry and tow heavy objects by taking advantage of the high F/M ratio of hydraulic-driven actuators. However, to handle hydraulics, various hydraulic components must be included, often making downsizing, weight reduction, and actuators a challenging issue. The purpose of this study is to develop a compact and lightweight electrically driven hydraulic power unit for the Tough Runner, a hydraulic quadruped robot that aims to walk long distances independently.