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Due to the strongly environmental adaptation, quadruped robot becomes a research hot spot. The single leg control lays foundation for the control of quadruped robot. The operational space control which is used in the quadruped robot single leg control algorithms usually strongly depends on the accuracy of the model. This paper applies RBF (radial basis function) neural network adaptive control on...
The variable spring-loaded inverted pendulum (V-SLIP) model captures characteristic properties of the hip or COM motion in human locomotion. A control strategy consists of a leg stiffness controller and a foot placement controller is proposed for a biped walker. Some restrictions are considered in the control strategy, e.g. the friction and the ability of the actuator. A novel trajectory function...
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