Converter for converting mechanical energy into hydraulic energy and robot implementing said converter

A converter for converting mechanical energy into hydraulic energy, comprising:

• a shaft rotated by mechanical energy about a first axis relative to a casing;
• a hub defining a bore formed about a second axis, the shaft rotating in the bore, the first axis being parallel to the second axis and a distance between the first axis and the second axis defining an eccentricity;
• at least two pistons movably disposed in radial housings of the shaft, each of the radial housings guiding one of the at least two pistons, the at least two pistons bearing against the bore;
• and
• a carriage disposed on the hub, the carriage configured to move along a third axis where the third axis is perpendicular to the first axis and the second axis,
• wherein a movement of the at least two pistons draws a hydraulic fluid from one of two annular grooves of the casing and feeds the hydraulic fluid into another of the two annular grooves, each of the two annular grooves being arranged in an arc of a circle about the first axis, a hydraulic energy being generated by a pressure difference of the hydraulic fluid present between the two annular grooves,
• wherein a movement of the carriage along the third axis translates the hub along the third axis to modify a value of the eccentricity between two extreme values, one extreme value being positive and another extreme value being negative, thereby enabling an inversion of fluid pressures between the two annular grooves by varying the eccentricity while maintaining a constant rotation direction of the shaft, and
• wherein the converter further comprises a valve for controlling the movement of the carriage by varying an amount of the fluid pressure difference between the two annular grooves that is applied to the carriage.