Title: Robust attitude stabilisation reactive control of a quadruped robot under load disturbance

Authors: Xiaolu Zhu; Jinxiao Wan; Wei Xu; Chuan Zhou

Addresses: School of Automation, Nanjing University of Science and Technology, Nanjing, China ' School of Automation, Nanjing University of Science and Technology, Nanjing, China ' Unmanned Ground Vehicle R&D Center, China North Vehicle Research Institute, Beijing, China ' School of Automation, Nanjing University of Science and Technology, Nanjing, China

Abstract: In order to solve the walking stability problem of a quadruped robot under load disturbance, a robust attitude stabilisation reactive control strategy based on zero-moment point (ZMP) stability criterion is proposed. This control strategy is composed of two layers, including an adaptive gait planner at the upper layer and a robust joint angle tracking controller at the bottom layer. The adaptive gait planner calculates the desired ZMP position in real-time by the robot body dynamics, which can adaptively plan the foot-end trajectory of the quadruped robot to ensure the attitude stability of the robot under load disturbance. The robust joint angle tracking controller is a sliding-mode tracking controller with disturbance observer, which calculates the disturbance and compensates for it through the complete dynamics of the quadruped robot with disturbance term. Finally, the effectiveness of the proposed reactive control strategy is verified by co-simulation of ADAMS and MATLAB.

Keywords: quadruped robot; load disturbance; zero-moment point; ZMP; disturbance observer; sliding-mode control; reactive control.

DOI: 10.1504/IJAAC.2022.126080

International Journal of Automation and Control, 2022 Vol.16 No.6, pp.649 - 669

Received: 29 Apr 2020
Accepted: 09 Mar 2021
Published online: 11 Oct 2022 *

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