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Article

Energy-Efficient Hydraulic System for Hexapod Robot Based on Two-Level Pressure System for Oil Supply

by
Junkui Dong
1,*,
Bo Jin
2,3,
Ziqi Liu
4 and
Lei Chen
2
1
School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China
2
State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
3
Ningbo Innovation Center, Zhejiang University, Ningbo 315100, China
4
College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China
*
Author to whom correspondence should be addressed.
Biomimetics 2025, 10(3), 151; https://doi.org/10.3390/biomimetics10030151
Submission received: 18 January 2025 / Revised: 24 February 2025 / Accepted: 27 February 2025 / Published: 1 March 2025
(This article belongs to the Special Issue Optimal Design Approaches of Bioinspired Robots)
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Abstract

This article proposes a two-level pressure system (TPS) inspired by mammalian energy supply mechanisms to enhance the energy efficiency of hydraulic hexapod robots (HHRs), In contrast to traditional one-level pressure systems (OPSs), the TPS contains both high-pressure and low-pressure oil supplies, which can switch the oil supply pressure according to the actuator load to reduce throttling loss and improve energy efficiency. Additionally, the TPS adopts a separate-meter-in and separate-meter-out (SMISMO) method to manage flow and pressure switching for the actuators. This article also analyzes the energy transfer process of an HHR and establishes kinematic and hydraulic system models. The energy-saving and control performance of the TPS is verified through simulations and experiments. The results show that compared to the OPS, the TPS achieves a 28.8% reduction in energy consumption while imposing higher demands on control performance.
Keywords: hydraulic system; hexapod robot; energy saving; multiple-pressure supply hydraulic system; hexapod robot; energy saving; multiple-pressure supply

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MDPI and ACS Style

Dong, J.; Jin, B.; Liu, Z.; Chen, L. Energy-Efficient Hydraulic System for Hexapod Robot Based on Two-Level Pressure System for Oil Supply. Biomimetics 2025, 10, 151. https://doi.org/10.3390/biomimetics10030151

AMA Style

Dong J, Jin B, Liu Z, Chen L. Energy-Efficient Hydraulic System for Hexapod Robot Based on Two-Level Pressure System for Oil Supply. Biomimetics. 2025; 10(3):151. https://doi.org/10.3390/biomimetics10030151

Chicago/Turabian Style

Dong, Junkui, Bo Jin, Ziqi Liu, and Lei Chen. 2025. "Energy-Efficient Hydraulic System for Hexapod Robot Based on Two-Level Pressure System for Oil Supply" Biomimetics 10, no. 3: 151. https://doi.org/10.3390/biomimetics10030151

APA Style

Dong, J., Jin, B., Liu, Z., & Chen, L. (2025). Energy-Efficient Hydraulic System for Hexapod Robot Based on Two-Level Pressure System for Oil Supply. Biomimetics, 10(3), 151. https://doi.org/10.3390/biomimetics10030151

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