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SENSORS,ANDCOMMAND,CONTROL,COMMUNICATIONS,ANDINTELLIGENCEC3ITECHNOLOGIESFORHOMELANDSECURITYANDHOMELANDDEFENSEV,EDITEDBYEDWARDMCARAPEZZA,PROCOFSPIEVOL6201,620112,20060277786X/06/15DOI101117/12666253PROCOFSPIEVOL62016201121PROCOFSPIEVOL62016201122VPROCOFSPIEVOL62016201123PROCOFSPIEVOL62016201124HIPACTUATORFLOWLOADCHARACTERISTICSSUPPLY3200P51PRESSUREPSIKNEEACTUATORFLOWLOADCHARACTERISTICSSUPPLY3200P5102000PRESSUREPSI2500PROCOFSPIEVOL62016201125PROCOFSPIEVOL62016201126PROCOFSPIEVOL62016201127PROCOFSPIEVOL6201620112862OMFUTERSYSTEMCCUMULATORSPIHYDEAULBFILTEEANIFOLDELOCKNEEACTUATOEPROCOFSPIEVOL62016201129PROCOFSPIEVOL620162011210353637383940353637383940353637383940353637383940536373839403536373839403637383940353637383940353637383940PROCOFSPIEVOL620162011211ESPECIALLYSINCEITISSTRAIGHTFORWARDTOPREDICTWHENHIGHPRESSUREWILLBEREQUIREDANDTHESWITCHESCOULDBESWITCHEDAHEADOFTIMETHEPOTENTIALTOSWITCHBETWEENSUPPLYPRESSURESATHIGHRATELEADSONETOPONDERWHETHERASWITCHINGCIRCUITSIMILARTOAPWMELECTRICMOTORAMPLIFIERCOULDBEDEVELOPEDHOWEVER,THEREARETWOKEYREQUIREMENTSOFPWMCIRCUITSTHATALLOWTHEMTOBEEFFICIENTHIGHFREQUENCYSWITCHESANDINDUCTORSWITHANELECTRICPWMMOTORAMPLIFIER,HIGHVOLTAGEISAPPLIEDMOMENTARILYTHROUGHASWITCHTOANINDUCTIVELOADTHEINDUCTORBUILDSUPITSMAGNETICFIELDANDWHENTHESWITCHTURNSOFF,THEELECTRICFIELDBREAKSDOWN,CAUSINGCURRENTTOCONTINUEFLOWINGTHROUGHTHELOADSINCETHESWITCHINGFREQUENCY,TYPICALLYONTHEORDEROF10KHZ,ISANORDEROFMAGNITUDEFASTERTHANTHEL/RTIMECONSTANTOFTHELOAD,THECURRENTDELIVEREDTOTHELOADSMOOTHLYVARIESWITHSUCHACIRCUIT,ASINGLEHIGHVOLTAGESOURCECANBEUSEDTOEFFICIENTLYDRIVEALOADWITHVARYINGVOLTAGEREQUIREMENTSUNFORTUNATELY,HYDRAULICSWITCHESARERELATIVELYLOWFREQUENCY,ONTHEORDEROF100HZ,ANDHYDRAULICINDUCTORSAREIMPRACTICALWHILETHEREISSOMEINDUCTANCEINERTIAINTHEHYDRAULICFLUIDITSELF,ITISNOTSUFFICIENTONECOULDMAKEAHYDRAULICINDUCTORUSINGFOREXAMPLEAHYDRAULICMOTORWITHAFLYWHEEL,BUTTHESIZEANDWEIGHTMAYBEPROHIBITIVEFORHIGHINERTIALLOADS,THEMASSOFTHELOADMAYPROVIDETHEPROPERAMOUNTOFINERTIAANDSUCHATECHNIQUEMIGHTBEPRACTICALHOWEVER,THELOADSPRESENTDURINGTHEPERIODSOFCONCERNFORARUNNINGROBOTSUCHASLEGSWINGARETYPICALLYVERYLOWINERTIATHEREFORE,ITISDOUBTFULTHATSIMILARTECHNIQUESTOPWMAMPLIFIERSCANBEUSEDINHYDRAULICCIRCUITSUNLESSNEWFORMSOFSMALLANDLIGHTWEIGHTHYDRAULICINDUCTORSANDFASTERHYDRAULICSWITCHESCANBEDEVELOPED7NEXTSTEPSONGOINGEFFORTSWITHTHEMONOPODINCLUDETHEFOLLOWINGFINISHINTEGRATINGTHEPOWERSYSTEMINTOTHEMONOPODFURTHERREFINETHECONTROLALGORITHMINVESTIGATEMOREEFFICIENTHYDRAULICSYSTEMDESIGNS8ACKNOWLEDGEMENTSTHISPROJECTWASFUNDEDUNDERTACOMSBIRCONTRACTW56HZV04C0072SPECIALTHANKSTOGILLPRATTFORCLARIFYINGDISCUSSIONSONTHEOPERATIONOFELECTRICPWMAMPLIFIERSREFERENCES1GAPRATTANDMMWILLIAMSON,“SERIESELASTICACTUATORS,“PROCEEDINGS1995IEEE/RSJINTERNATIONALCONFERENCEONINTELLIGENTROBOTSANDSYSTEMSHUMANROBOTINTERACTIONANDCOOPERATIVEROBOTS,PP399406,19952JEPRATTANDBTKRUPP,“SERIESELASTICACTUATORSFORLEGGEDROBOTS,“PROCEEDINGSOFTHESPIETHEINTERNATIONALSOCIETYFOROPTICALENGINEERING,VOL5422,NO1,PP135144,20043DWROBINSON,“DESIGNANDANALYSISOFSERIESELASTICITYINCLOSEDLOOPACTUATORFORCECONTROL“PHDMASSACHUSETTSINSTITUTEOFTECHNOLOGY,DEPTOFMECHANICALENGINEERING,20004RMALEXANDER,“THREEUSESFORSPRINGSINLEGGEDLOCOMOTION,“INTERNATIONALJOURNALOFROBOTICSRESEARCH,VOL9,NO2,PP5361,19905MRAIBERT,LEGGEDROBOTSTHATBALANCEMITPRESS,19866KAMUNDSON,JRAADE,NHARDING,ANDHKAZEROONI,“HYBRIDHYDRAULICELECTRICPOWERUNITFORFIELDANDSERVICEROBOTS,“2005IEEE/RSJINTERNATIONALCONFERENCEONINTELLIGENTROBOTSANDSYSTEMS,PP34533458,20057HKAZEROONI,“EXOSKELETONSFORHUMANPOWERAUGMENTATION,“2005IEEE/
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