Electro-hydraulic control system and frequency analysis for a hydraulically driven six-legged robot

This paper presents a methodical design of the electro-hydraulic control system for a large scale hydraulically driven six-legged robot, which can walk on rough terrain. Considering the widely varying load during the locomotion cycles, the electro-hydraulic control system should be capable of effectively handling widely varying load and possess high control bandwidth. To address these issues, a two-stage and distributed control architecture is presented. The co-simulation framework is fabricated by the interface technology integrating Simulink, AMESim and ADAMS, in order to build the total dynamics modeling. Subsequently, the design of power system and numerical evaluation of frequency analysis are implemented. Finally, verification tests were conducted in the outdoor environment to prove the effectiveness of the proposed design.