Study of the dynamic behavior of Ralphy

Villard C., Gorce P., Fontaine J.

Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, 26 - 30 July 1993, pp.1765-1770, (Full Text) identifier

  • Nəşrin Növü: Conference Paper / Full Text
  • Çap olunduğu şəhər: Yokohama
  • Ölkə: Japan
  • Səhifə sayı: pp.1765-1770
  • Açıq Arxiv Kolleksiyası: Konfrans Materialı
  • Adres: Bəli

Qısa məlumat

In this paper we propose a control-command scheme of the quadruped robot RALPHY (French acronym for legged robot with pneumatic actuators) which takes into account both dynamical and real time aspect as well as theoretical and practical approaches. For that, we have decomposed the dynamic model of the whole robot as far as possible the tasks to be realized. In this architecture, the lowest level (Leg level) is assigned to command the leg movements through the Leg Inverse Dynamic Model (L.I.D.M.).