Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot (original) (raw)

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Abstract

This paper focuses on the design and experimental evaluation of a hydraulically actuated robot leg. The evaluation of the leg prototype is an important milestone in the development of HyQ, a Hydraulically actuated Quadruped robot. The prototype features two rotary joints actuated by hydraulic cylinders and has a mass of 4.5kg. We performed several experiments with the leg prototype attached

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