Research Information System
Journal Europeen des Systemes Automatises, vol.30, no.6, pp.823-836, 1996 (Scopus)
This paper presents the dynamic control architecture chosen for our quadruped robot RALPHY (french acronym for a pneumatic robot). It is a hierarchical architecture composed of two main levels. A "coordinator" level generates the design joint trajectories and forces in order to obtain the plateform stability. This is done through a control of the platform acceleration center of mass and an appropriate distribution of the forces to be applied at leg end points. The "leg" level achieves the trajectories tracking. We propose a direct adaptive controller dermined using Popov passivity theory. Non linearities due both to dynamic and pneumatic effects are taken into account leading to a two stages controller. Finally, the connection of these two levels is made and a force control strategy proposed.