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1、SPEED-ADAPTEDTRAJECTORIESINTHECASEOFINSUFFICIENTYDRAULICRESSUREFORTHEFOUR-LEGGEDLARGE-SCALEWALKINGVEHICLEALDUROABSTRACTWhenoperatingwalkingmachines,onlyacoordinatedmovementofallcylindersand/ormotorscanleadtosafe,stablewalking.ThelargehydraulicallydrivenwalkingmachineALDUR
2、O,whichisinvestigatedinthispaper,hasnoexternalpowersupply,andthereforethesizeoftheon-boardhydraulicpowerpackanditsdieselengineislimitedbyitsweight.Whenmovingseveralcylinderswithhighspeed,thehydraulicsupplycanbecomeinsufficientandtheresultingtrajectoriesoffeetandplatformca
3、nbecomeunpredictable.WhentheALDUROisnearitsstabilitylimitsuchbehaviourcanleadtoinstabilityandtopplingofthesystem.Theproposedsolutionunderdiscussionhereistoobservethepositionerrorsandtimederivativesforthecylindersandbasedonthisreducethespeedwhennecessary.1.INTRODUCTIONThes
4、ysteminvestigatedinthispaperistheAnthropomorphicallyLeggedandWheeled-２１-DuisburgRobot(ALDURO).Itconsistsofaplatformof2.0mby2.2mwithacabinfortheoperatorandfourlegs,each1.8mlong.Theestimatedweightis1200kg.Itcanbeusedasaquadrupedwalkingmachine(Fig.2),andbyreplacingthetwohind
5、feetwithwheels,itcanalsobeusedasacombinedleggedandwheeledvehicle(Fig.1).Thelattercombinestheadvantagesofawalkingmachine-highmobility-withthestabilityandspeedofwheeledvehicles[2].Whenoperatinginsteepanddangerousterrain,safetyplaysanimportantrole.Itmustbeguaranteedthatthecy
6、lindersfollowthecalculatedtrajectoriesexactlysinceawrongmovementmightcausetherobottobecomeinstable.ALDURO'slegsarehydraulicallydriven,withanopenhydraulicsystem.Normally,whenplanninghydraulicsystems,lowweighthasnohighpriority[1].ForthewalkingmachineALDUROtheratiopowerperwe
7、ightwasoptimized.Fig.1:CombinedLeggedFig.2:WalkingMachineandWheeledVehicleWhileactuatingseveralcylinderssimultaneouslyormovingveryfast,thevolumeflowofthehydraulicsupplybecomesinsufficientandtheresultingmovementsuncontrollable.Theproposedsolutionunderdiscussionhereisadecre
8、aseinspeedofallcalculatedtrajectories.Thisisadmissibleaslongastherobotisstaticallystableatanymom
