Research on Adaptive Control Method of Quadruped Robot's Load

In order to improve the load adaptability of quadruped robot in varied topography, a load estimation and adaptive control method of quadruped robot is studied. First, this paper sets up mechanical balance equation to achieve weight estimation of the load, moreover, it builds the desired body action force and torque based on the virtual model control method, integrates the actual force information of the ground to calculate the torque error of body action, obtains the center-of-mass deviation in combination with the load weight, and builds the optimal control strategy of force distribution. Finally, the feasibility of the method is verified experimentally, and the fused estimated center-of-mass and mass information can be used for effective robot position and attitude control.