Energetic autonomy of a hydraulic-based mobile field robot requires a power source capable of both electrical and hydraulic power generation. While the hydraulic power is used for locomotion, the electric power is used for the computer, sensors and other peripherals. An internal combustion engine was used as the prime mover due to the high energy density of gasoline. The primary specification for this hybrid Hydraulic-Electric Power Unit (HEPU) is that it must output constant pres-sure hydraulic power and constant voltage electric power. An on-board computer uses a pressure sensor and a speed sensor to regulate the pressure and voltage by modulating a hydraulic solenoid valve and an engine throttle. The speed regulation also results in a system noise with predictable frequency band which allows for optimal muffler design. A novel characteristic of this power source is its cooling system in which hydraulic fluid is used to cool the engine cylinders.

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