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. In this research, an electrohydraulic servo four-leggedheavy-duty (FLHD) robot has been designed and developed. The studyproposes an integration layout cylinder design scheme for a non-lightweighthydraulic servo four-legged robot with high loads and torques of hip jointand derives the mathematical element analysis model for a parallel-executedcylinder (PEC) system. The multiple inherent characteristics of the PECintegration system model are explored further. Based on the controllablefunctional requirements of interconnected joints, and to weaken the influenceof internal force coupling, a force–position hybrid controlscheme for the PEC is designed, and the force–position signal moduledesign unit is used to solve the force–position hybrid control in reverse.Considering the inherent requirements of the servo-executed cylinder (SEC)force control unit module (CUM), the implementation process of magnetic fluxcompensation and speed compensation is discussed in detail. The minimumamplitude controller is applied to the SEC force CUM, and the proportionalintegrated controller has been determined in the SEC position CUM. Acompound control strategy proposed in this paper is verified on a parallelhydraulic servo platform. The experimental verification results reveal thatthe values of position/force attenuation amplitude and lag phase are notgreater than 9 % and 18∘, respectively. The feasibility of theinterconnected implementation of the hybrid control scheme proposed in thispaper is further increased. The conclusions of this research will beuseful for application in fields of four-legged heavy-load (FLHL) robot control systems.

Kinematics analysis of a four-legged heavy-duty robot with a force–position hybrid control servo actuator in a parallel-executed cylinder system