Reconfigurable hydrostatics: Toward versatile and efficient load-bearing robotics

TL;DR

This paper introduces reconfigurable hydrostatic actuators for load-bearing robots, combining passive and sharing mechanisms to improve versatility, efficiency, and backdrivability over traditional designs.

Contribution

The paper presents a novel hydrostatic actuator design integrating passive and sharing mechanisms, demonstrating benefits in mass, efficiency, and versatility for robotic load-bearing applications.

Findings

Hydrostatic actuator reduces energy consumption by 4.8x during walking.

The design can track various ground reaction force profiles effectively.

Experimental results confirm improved efficiency and versatility.

Abstract

Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being backdrivable. Alternatively, quasi-passive and underactuated designs reduce the amount of motorization and energy storage, but are often designed for specific tasks. Designers of versatile and stronger wearable robots will face these challenges unless future actuators become very torque-dense, backdrivable and efficient This paper explores a design paradigm for addressing this issue: reconfigurable hydrostatics. We show that a hydrostatic actuator can integrate a passive force mechanism and a sharing mechanism in the fluid domain and still be multifunctional. First, an analytical study compares the effect of these two mechanisms on the motorization requirements in the context of a load-bearing exoskeleton. Then, the hydrostatic concept integrating these two mechanisms using hydraulic components is presented. A case study analysis shows the mass/efficiency/inertia benefits of the concept over a fully actuated one. Then, experiments are conducted on robotic legs to demonstrate that the actuator concept can meet the expected performance in terms of force tracking, versatility, and efficiency under controlled conditions. The proof-of-concept can track the vertical ground reaction force (GRF) profiles of walking, running, squatting, and jumping, and the energy consumption is 4.8x lower for walking. The transient force behaviors due to switching from one leg to the other are also analyzed along with some mitigation to improve them.