NDLI: A solution to control the dynamic behaviour of a pneumatic quadruped robot

Content Provider	IEEE Xplore Digital Library
Author	Guihard, M. Gorce, P. Fontaine, J.G. M'Sirdi, N.K.
Copyright Year	1995
Description	Author affiliation: Lab. de Robotique de Paris, Velizy, France (Guihard, M.; Gorce, P.; Fontaine, J.G.; M'Sirdi, N.K.)
Abstract	Describes a control/command architecture developed for the authors' 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 a 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. The authors propose an adaptive computed torque type controller which takes into account nonlinearities due both to the dynamic model and to the pneumatic system. Finally, the authors develop the connection between these two levels, proposing a solution to deal with uneven terrains.
Starting Page	1000
Ending Page	1005
File Size	604948
Page Count	6
File Format	PDF
ISBN	0780319656
ISSN	10504729
DOI	10.1109/ROBOT.1995.525413
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-05-21
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Stability Leg Weight control Pneumatic actuators Robots Acceleration Programmable control Adaptive control Torque control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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