A hydraulic control circuit operable to selectively hydraulically link first and second hydraulic actuators and to bypass that hydraulic link.

An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.

An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.

A fluid system is provided that includes a first actuator, a second actuator and a valve system. The valve system includes a first control valve, a second control valve and a transfer valve. During a first mode of operation, the transfer valve is configured to fluidly couple the first control valve to the first actuator and fluidly couple the second control valve to the second actuator, and the transfer valve is also configured to fluidly decouple the first control valve from the second actuator and fluidly decouple the second control valve from the first actuator. During a second mode of operation, the transfer valve is configured to fluidly couple the first control valve to the first actuator and the second actuator, and the transfer valve is also configured to fluidly decouple the second control valve from the first actuator and the second actuator.

An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.

A hydraulic valve assembly includes a connection section, a first valve section, at least one second valve section, and a hydraulic pilot control device with a pilot valve device. The first valve section has a first spool piston and a first spool diverter. The second valve section has a second spool piston and a second spool diverter. The first spool diverter and the second spool diverter are each switchable to at least a first spool diverter switching position and a second spool diverter switching position. Pilot pressure is applied in parallel to the first spool diverter and the second spool diverter via the hydraulic pilot control device in a first switching position of the pilot valve device for switching together into the first spool diverter switching position.