External Force Adaptive Control in Legged Robots Through Footstep Optimization and Disturbance Feedback
This article studies a robust controller capable of responding to external forces applied to a quadruped robot. Unlike conventional methods, our controller utilizes information about external forces to achieve better performance. We incorporate disturbance feedback into the robot dynamics and calcul...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10731682/ |