Simulated performance assessment of different digital hydraulic configurations for use on the HyQ leg

This paper investigates the performance of four different digital hydraulic configurations on the leg of a hydraulic quadruped robot HyQ via numerical simulation. Hydraulic dynamics are analyzed in Co-simulation utilizing AMESim and Simulink where State flow control is used to make decisions for each digital valve, and the performance and power usage of the systems analyzed. Results indicate that digital hydraulic technology can be applied to the actuation system of the robot to achieve energy saving performance and smooth response.