Speed-adapted trajectories in the case of insufficient hydraulic pressure for the four-legged large-scale walking vehilce ALDURO
When operating walking machines, only a co- ordinated movement of all cylinders and/or motors can lead to safe, stable walking. The large hydrauli- cally driven walking machine ALDURO, which is in- vestigated in this paper, has no external power supply, and therefore the size of the on-board hydraulic power pack and its diesel engine is limited by its weight. When moving several cylinders with high speed, the hydraulic supply can become insu±cient and the re- sulting trajectories of feet and platform can become unpredictable. When the ALDURO is near its stabil- ity limit such behaviour can lead to instability and toppling of the system. The proposed solution under discussion here is to observe the position errors and time derivatives for the cylinders and based on this reduce the speed when necessary.
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