Akademik Məlumat İdarəetmə Sistemi
Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3), Nagoya, Japan, 21 - 27 May 1995, vol.1, pp.1000-1005, (Full Text)
In this paper we describe a control/command architecture developed for our quadruped robot RALPHY (French acronym for legged robot with pneumatic actuators). Dynamical and real time aspects as well as theoretical and practical approaches have been taken into account. In order to hierarchize and distribute as far as possible the different tasks to be realized, the robot dynamic model has been decomposed in two parts. A 'Coordinator level' controls the platform stability by means of leg to platform interaction model. In dynamic situation, this stability is ensured by a 'center of mass acceleration control' and a 'force distribution control'. A 'Leg Level' deals with the control problem of each leg. We propose an adaptive computed torque type controller which takes into account non linearities due both to the dynamic model and to the pneumatic system. Finally, we develop the connection between these two levels, proposing a solution to deal with uneven terrains.