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This study investigates the relationship between mass distribution and walking stability in a hydraulically driven bipedal robot possessing 12 degrees of freedom. A simplified mass distribution model of the connecting rod is established to analyze how the positioning of key components, such as the servo valve and valve block, affects the robot’s center of mass and inertial properties. Through simulations examining the zero moment point (ZMP) stability margin and walking efficiency, the effects of mass distribution in the thigh, calf, and hip regions on overall walking stability and energy efficiency are explored. Results demonstrate that relocating thigh mass closer to the hip joint significantly enhances walking stability. Additionally, moderate adjustments to hip mass distribution markedly influence walking efficiency. These findings provide a theoretical foundation for optimizing mass distribution in the design of hydraulically actuated bipedal robots.

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Simulation Analysis of Stability and Mass Distribution of Hydraulically Driven Robot

  • 会议论文

  • 发表日期：

    2026年

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  • Jianrui Zhang,
  • Ning Mi,
  • Wei Wang,
  • Tao Jing,
  • Jianxiao Bian,
  • Ni Li,
  • Xiaonan Pan,
  • Xia Zhang

摘要

This study investigates the relationship between mass distribution and walking stability in a hydraulically driven bipedal robot possessing 12 degrees of freedom. A simplified mass distribution model of the connecting rod is established to analyze how the positioning of key components, such as the servo valve and valve block, affects the robot’s center of mass and inertial properties. Through simulations examining the zero moment point (ZMP) stability margin and walking efficiency, the effects of mass distribution in the thigh, calf, and hip regions on overall walking stability and energy efficiency are explored. Results demonstrate that relocating thigh mass closer to the hip joint significantly enhances walking stability. Additionally, moderate adjustments to hip mass distribution markedly influence walking efficiency. These findings provide a theoretical foundation for optimizing mass distribution in the design of hydraulically actuated bipedal robots.