Articles | Volume 12, issue 2
Mech. Sci., 12, 735–749, 2021
Mech. Sci., 12, 735–749, 2021

Research article 30 Jul 2021

Research article | 30 Jul 2021

Kinematics analysis of a four-legged heavy-duty robot with a force–position hybrid control servo actuator in a parallel-executed cylinder system

Guiying Wang et al.

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Cited articles

Andersen, R. E., Hansen, E. B., Cerny, D., Madsen, S., Pulendralingam, B., Bøgh, S., and Chrysostomou, D.: Integration of a Skill-based Collaborative Mobile Robot in a Smart Cyber-physical Environment, Procedia Manufacturing, 11, 114–123,, 2017. 
Barasuol, V., Villarreal-Magaña, O. A., Sangiah, D., Frigerio, M., Baker, M., Morgan, R., Medrano-Cerda, G. A., Caldwell, D. G., and Semini, C.: Highly-integrated hydraulic smart actuators and smart manifolds for high-bandwidth force control, Front. Robot. AI, 5, 1–15,, 2018. 
Bazeille, S., Barasuol, V., Focchi, M., Havoutis, I., Frigerio, M., Buchli, J., Caldwell, D. G., and Semini, C.: Quadruped robot trotting over irregular terrain assisted by stereo-vision, Intel. Serv. Robot., 7, 67–77,, 2014. 
Elasswad, M., Tayba, A., Abdellatif, A., Alfayad, S., and Khalil, K.: Development of lightweight hydraulic cylinder for humanoid robots applications, P. I. Mech. Eng. C-J. Mec., 232, 3351–3364,, 2017. 
Gallant, A. and Gosselin, C.: Extending the capabilities of robotic manipulators using trajectory optimization, Mech. Mach. Theory, 121, 502–514,, 2018. 
Short summary
An electrohydraulic servo four-legged heavy-duty (FLHD) robot has been designed and developed. An integration layout cylinder design scheme for a non-lightweight hydraulic servo four-legged robot with high loads and torque of the hip joint is proposed, and the mathematical element analysis model for a parallel-executed cylinder (PEC) system is derived. A design idea of a force–position hybrid control scheme is determined for the PEC.