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 …