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This paper presents a dynamic stability analysis method for a trotting quadruped robot on unknown rough terrains based on Lyapunov theory of switching system. The dynamic model of a trotting quadruped robot is built as a nonlinear switching system. In a single stance phase, the dynamic model is approximated as a 3D seven-link mechanism and a linear inverted pendulum, and a contact force distribution/control...
In this paper, a compliance control strategy based on ZMP preview control for quadruped walking gait locomotion under unperceived disturbances is proposed. The preview control is designed to plan the CoM trajectory to realize the desired ZMP. When the robot suffers from interference of environmental disturbances, we introduce an adjusted expected ZMP to suppress the change of the ZMP. The force distribution...
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