Research on energy consumption of hydraulic quadruped robot based on trot gait

Mobile energy consumption is an important performance index of hydraulic quadruped robot. Therefore, it is significant to study the energy consumption of hydraulic quadruped robot under different gait parameters. The kinematics and dynamics model of hydraulic quadruped robot were established. The motion state of hydraulic cylinder was obtained according to the geometry relation of mechanism and model of kinematics and dynamics. The cycloid function and cubic curve function were planned under trot gait. The energy consumption of two kinds of foot gait was analyzed. The effect on mobile energy consumption under different stride length, step high, the angle of contacting with ground, the size of cycle, restricted angle and the angle of slope was studied. The results show that it is better to choose a relatively larger stride, larger cycle and smaller angle of contacting with ground considering the stability, impact force and speed requirements of system and to meet the requirement of barriers, the lower step high should be chosen and considering the whole cycle, the angle of contacting with ground should be restricted.