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. In recent years, hydraulic quadruped robots have received increasing attention because of their strong environmentadaptability and high load capacity. However, weight control is an importantissue for mobile systems in consideration of limited onboard energy. Overweight will cause extra load on joints, reduce the flexibility ofmovement, and consume more power. Topology optimization is an effective toolto reduce volume and weight while maintaining enough strength. This articletakes both optimal geometries and contained flow channels into considerationand gives solutions to structure design and good print quality in a manifoldused on a robot. Using topology optimization, the volume of the manifold isfurther reduced by 50.7 %, while it can meet the mechanical requirementfor actual application.

Topology optimization design of a lightweight integrated manifold with low pressure loss in a hydraulic quadruped robot actuator