Electronic Implementation of High Bandwidth Linear Hydraulic Actuator for Legged Robot’s Applications

Abstract

—The Electro-Hydraulic Actuator (EHA) is widely used in various fields, including but not limited to humanoid robotics, industrial actuators, prosthetics, rehabilitation equipment, and aeronautics. The development of legged robots and robotic systems must consider high dynamics and wide bandwidth. Due to their large bandwidth, electro-hydraulic servo-valves (EHSV) provide a substantial advantage over traditional electro-hydraulic proportional valves. However, some EHSVs' electrical properties can make it difficult to function correctly. To enhance the dynamic performance of EHSV-based actuation systems, this research suggests a novel electronic driver topology. The hydraulic, electrical, and mechanical components of the Simscape a toolbox in Matlab-Simulink is used to verify the theoretical study that forms the basis of the proposed driver design. Finally, experimental data from a hydraulic system test bench in a lab are acquired.