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Mobile robots are often needed for long duration missions. These includesearch and rescue, sentry, repair, surveillance and entertainment. Currentpower supply technology limit walking and climbing robots from many suchmissions. Internal combustion engines have high noise and emit toxic exhaustwhile rechargeable batteries have low energy densities and high rates ofself-discharge. In theory, fuel cells do not have such limitations. Inparticular Proton Exchange Membrane (PEMs) can provide very high energydensities, are clean and quiet. However, PEM fuel cells are found to beunreliable due to performance degradation. This can be mitigated by protectingthe fuel cell in a fuel-cell battery hybrid configuration using filteringelectronics that ensure the fuel cell is isolated from electrical noise and abattery to isolate it from power surges. Simulation results are presented for aHOAP 2 humanoid robot that suggests a fuel cell powered hybrid power supplysuperior to conventional batteries.

Hybrid Fuel Cells Power for Long Duration Robot Missions in Field Environments