Design of LIGHTDOG: A high payload-to-weight,hose-less hydraulic quadrupedal robot

Abstract

This paper presents LIGHTDOG, a torque-controlled, hydraulically-actuated quadrupedal robot designed for a high power-to-weight ratio and substantial payload capabilities. Hydraulic systems present complexity, weight, and thermal management challenges, which are addressed by embedding all the oil channels inside the robot, inspired by biological vascular structures. This embedding is facilitated by a distinctive robot body design featuring integrated oil channels and the inclusion of a double-vane rotary actuator design, allowing for the internalization of oil channels within the joints. These oil channels not only contribute to the robot’s compactness and lightness, but also allow heat spread throughout the body to dissipate through the robot’s frame, managing heat during robot motion without the need for external radiators. The rotary actuator is equipped with a structure designed to reduce internal leakage and friction torque, which can reduce energy losses in the hydraulic system. Optimization methods were applied to the slider-crank mechanism and hydraulic actuator sizing to reduce lateral and axial forces, as well as the energy consumed by the hydraulic actuators. Our work has validated the feasibility and payload capacity of LIGHTDOG through several experiments. LIGHTDOG, weighing 45 kg, demonstrates a payload capacity of 130 kg during a squatting motion, significantly exceeding its own weight.