Hybrid hydraulic and electrically actuated mobile robot

A system comprising:

• a hydraulic actuator coupled to a joint of a mobile robotic device, wherein the hydraulic actuator is configured for operation;
• an electric actuator coupled to the joint of the mobile robotic device;
• and
• a controller configured to operate the hydraulic actuator and the electric actuator, wherein the controller is further configured to:
• determine a total output torque to be applied by the hydraulic actuator and the electric actuator and a total output velocity to be applied by the hydraulic actuator and the electric actuator;
• based at least in part on the total output torque and the total output velocity, determine hydraulic operating parameters and electric operating parameters such that power dissipation of the hydraulic actuator and power dissipation of the electric actuator is minimized;
• determine that the electric operating parameters indicate activation of the electric actuator;
• and
• based at least in part on determining that the electric operating parameters indicate activation of the electric actuator, activate the electric actuator for operation at the determined electric operating parameters while operating the hydraulic actuator at the determined hydraulic operating parameters.

A method operable in a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system, the method comprising:

• determining, by a controller, a total output torque to be applied by the hydraulic actuator and the electric actuator and a total output velocity to be applied by the hydraulic actuator and the electric actuator;
• based at least in part on the total output torque and the total output velocity, determining, by the controller, hydraulic operating parameters and electric operating parameters such that power dissipation of the hydraulic actuator and power dissipation of the electric actuator is minimized;
• determining, by the controller, that the hydraulic operating parameters indicate activation of the hydraulic actuator and that the electric operating parameters indicate activation of the electric actuator;
• and
• based at least in part on determining that the hydraulic operating parameters indicate activation of the hydraulic actuator and that the electric operating parameters indicate activation of the electric actuator, activating the hydraulic actuator for operation at the determined hydraulic operating parameters activating the electric actuator for operation at the determined electric operating parameters.