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It is well-known that the walking gait for quadruped robots has great potential to travel over rough terrain because of its higher flexibility and better environment adaptability. This paper presents a control framework for a quadruped robot walking over rough terrain, which includes such features: First, a preview controller is designed to create an appropriate body trajectory to realize the desired...
This paper is focused on the control of a biologically-inspired quadruped robot leg. After a brief introduction of mechanical construction, the leg's dynamic equations in operational space are built and active disturbances rejection controllers are designed for three degrees of freedom (DOF). The extended Jacobian matrix method is used to optimize redundant DOF. The core of this work is the comparison...
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