In order to ensure the normal operation of the robot,for the convenience of control,the oil source of the hydraulic quad-ruped robot adopts the constant pressure and constant current energy supply mode,which will lead to the driving power of the robot is much lower than the power provided by the oil source,resulting in serious energy waste.In order to reduce such energy loss,variable flow dynamic oil supply strategy was proposed.The basic principle of variable flow control of oil source was introduced,the speed of each hy-draulic cylinder was obtained through load prediction,then the real-time oil supply flow demanded by single leg in the movement process was calculated by combining with the mathematical model of valve-controlled cylinder.A simulation model and a robot prototype were established to verify the effectiveness of the adaptive flow control.The experimental results show that the energy saving efficiency of the hydraulic quadruped robot is 56.51％higher than that of the constant flow energy supply system by using the adaptive control strate-gy of oil source flow.
维普
万方数据