Study of a distributed control architecture for a quadruped robot
 Claude Villard,
 Philippe Gorce,
 JeanGuy Fontaine
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Looking at legged robots, it is sometimes very important to take into account some of the practical aspects (when focusing on theoretical ones) in order to implement controlcommand levels.
In this way, we have treated the problem of the realization of dynamic or quasidynamic gaits with a quadruped robot using a new approach from which we have derived an efficient control/command scheme. This is based on a simple consideration which lies in the fact that the Dynamic Model (DM) can be decomposed into two main parts. From our point of view, we consider a part devoted to the command of the legs which could be called a Leg Inverse Dynamic Model (LIDM). We consider a second part dealing with the global characteristics of the platform. At this level, one can control the system. It will be called the LPIM (Leg to Platform Interaction Model).
This goal is reached assuming a dichotomy in a distributed architecture and by the way we present it. Further justification of our method will be given in several stages throughout the paper. We paid great attention to timesaving considerations with respect to communication protocols and data exchange at the same level and between the three levels we derived from our basic investigations.
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 Title
 Study of a distributed control architecture for a quadruped robot
 Journal

Journal of Intelligent and Robotic Systems
Volume 11, Issue 3 , pp 269291
 Cover Date
 19941001
 DOI
 10.1007/BF01254014
 Print ISSN
 09210296
 Online ISSN
 15730409
 Publisher
 Kluwer Academic Publishers
 Additional Links
 Topics
 Keywords

 Quadruped robot
 hierarchical control/command architecture
 dynamic model
 realime computation
 Industry Sectors
 Authors

 Claude Villard ^{(1)}
 Philippe Gorce ^{(1)}
 JeanGuy Fontaine ^{(1)}
 Author Affiliations

 1. Laboratoire de Robotique de Paris, 1012, Avenue de l'Europe, 78140, Velizy, France