MOTION CONTROL OF AN ELECTROPNEUMATIC DRIVEN LEGGED ROBOT

Abstract This paper deals with the motion control of an electropneumatic driven leg of a quadruped robot. It focus its attention on the design, implementation and evaluation of the control algorithm for the robot’s legs. The mechanical design of the legged robot, its instrumentation and the hardware of the control system are briefly described. Then, several techniques used for controlling linear pneumatic actuators based on state feedback controllers, its implementation and evaluation on the robot’s leg is presented. Finally we show a modified state feedback controller, its evaluation and the experimental set up to estimate the leg’s performance along a desired trajectory.