A multi level control architecture for a pneumatic robotic leg

The paper describes the control architecture and the motion strategy of a five degrees of freedom robotic leg. The prototype realized is pneumatically actuated, so the control strategy is specifically designed in order to ensure a proper stability during the motion. The control architecture is composed of a three level feedback loop that allows a three dimensional trajectory generation, directly in the operative environment. Moreover a set of sensors have been specifically designed, in order to increase the stability during the motion several walking trajectories have been generated and some experimental results are reported