Proceedings of the 1993 IEEWRSJ International Conference on Intelligent Robots and Systems Yokohama, Japan July 26-30.1993 STIJDY OF THE DYNAMIC BEHAVIOR OF RALPHY

I 1 0 . Cu.-tl% -//'*o Abstract: propose a form with the groundi."opened (leg in transfert) and control/command- the quadruped robot closed (leg in ~ wnkict) chain combinations. These pneumatic actuators) which ta P" RALPHY (French acronym fi3r legged robot with CombinatiQM" are varying during the movement and elements are related to these combinations but also to the nature of the terrain. In that field, many studies have been developped about the behavior