Abstract
This paper discusses in detail the control architecture of the biped Lucy which is actuated with pleated pneumatic artificial muscles. Pleated pneumatic artificial muscles have interesting characteristics that can be exploited for legged locomotion. They have a high power to weight ratio, an adaptable compliance and they can absorb impact effects. The trajectory generator calculates trajectories represented by polynomials based on objective locomotion parameters, which are average forward speed, step length, step height and intermediate foot lift. The joint trajectory tracking controller is divided in three parts: a computed torque module, a delta-p unit and a bang-bang pressure controller. The control design is formulated for the single support and double support phase, where specifically the trajectory generator and the computed torque differs for these two phases. The first results of the incorporation of this control architecture in the real biped Lucy are given.
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