Locomotion control of a four-legged robot embedding real-time reasoning in the force distribution

This paper discusses the application of rule-based reasoning to manage in real time the force distribution computation within a locomotion control of quadruped robots. The control uses input-output linearization in the attitude subsystem, and optimal Linear control in the overall locomotion system. The force distribution approach provides more adaptability and flexibility to the locomotion control, because the system is capable of fast adaptation to a wide variety of situations. Rules defining the knowledge about how to deal with walk events and feet forces calculation are presented. The rule-based reasoning is made using the KHEOPS system (LAAS). (C) 2000 Published by Elsevier Science B.V.