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...

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Bibliographic Details
Published in:IEEE access 2024, Vol.12, p.157531-157539
Main Authors: Kang, Jeonguk, Kim, Hyun-Bin, Ham, Byeong-Il, Kim, Kyung-Soo
Format: Article
Language:English
Subjects:
Adaptive control
Controllers
External pressure
Feedback
Force
Indexes
Legged locomotion
Odometry
Quadrupedal robots
Robot control
Robot dynamics
Robot kinematics
Robots
Robust control
Stability
Traction force
Uncertainty
Visualization
Citations: Items that this one cites
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Description
Summary: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 calculate a balancing index that considers the estimated force information to ensure coverage of the robot's support polygon. This approach allows the robot to adjust its legs in response to external forces, redistribute ground reaction forces, and enhance stability, enabling it to handle greater pressures. Additionally, it increases the amount of traction force generated while maintaining posture. These capabilities are expected to maximize disturbance resilience, enhance task performance, and improve stability during interactions with external environments, ultimately contributing to improved mobility of the robot in real-world scenarios.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2024.3485094