The energy minimization algorithm using foot rotation for hydraulic actuated quadruped walking robot with redundancy

In a stand-alone hydraulic power system for quadruped walking robot, the hydraulic flow consumption is an important parameter during walking. An inefficient large displacement of each angular joint motion caused by foot rotational trajectory without considering kinetic energy increases hydraulic flow consumption. And it requires the higher capacity of power system and it will be a burden on walking robot. In this paper, we proposes a redundancy resolution algorithm that minimized the hydraulic flow consumption for hydraulic actuated quadruped walking robot with redundancy resolution. And the performance of the proposed algorithm is tested using computer simulations.