SUMMARYIn the field of multifingered mechanisms the control/command problem is mainly a problem o1 coordination. The problem is not only to coordinate joints of a chains but also to coordinate the different chains together.This paper presents a general and efficient method for implementing the control/command of such systems, taking into account the force distribution problem. To solve this problem it is necessary to pay great attention to dynamic effects. To do this, we broke down the Inverse Dynamic Model (I.D.M.) problem into two main levels; One level is devoted to I.D.M. computation; it can be called the Finger Level (F.L.). As we wanted to divide up the work to be done as much as possible, we subdivided the Finger Level according to the number o1 kinematic chains. In addition, we considered a second level, the Coordinator. This level has to control all the chains using the Fingers-to-Object-Interaction Model (F.O.LM.).Next, we will also introduce new grasping systems: Polyvalent Gripper Systems (P.G.S). There are a new solution to multicomponent assembly problems. As they can be equipped with several multifingered mechanisms, they can also use the control/command scheme.

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Abstract. Looking at legged robots, it is sometimes very important to take into account some of the practical aspects (when focusing on theoretical ones) in order to implement control-command levels.In this way, we have treated the problem of the realization of dynamic or quasi-dynamic gaits with a quadruped robot using a new approach from which we have derived an efficient control/command scheme. This is based on a simple consideration which lies in the fact that the Dynamic Model (DM) can be decomposed into two main parts. From our point of view, we consider a part devoted to the command of the legs which could be called a Leg Inverse Dynamic Model (LIDM). We consider a second part dealing with the global characteristics of the platform. At this level, one can control the system. It will be called the LPIM (Leg to Platform Interaction Model).This goal is reached assuming a dichotomy in a distributed architecture and by the way we present it. Further justification of our method will be given in several stages throughout the paper. We paid great attention to time-saving considerations with respect to communication protocols and data exchange at the same level and between the three levels we derived from our basic investigations.

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4 Place Jussieu, Case 164 75252 PARIS CEDEX 05, FRANCE. A ,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"