Robust Control for a Mixed Leg Mechanism Four-Legged Walking Robot

摘要

This paper designs a mixed leg mechanism four legged robot with excellent mobility and performance. Robot's virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. For adjusting the planned control law continuously in response to the current movement of the feet of the robot, a control scheme has been presented to make the four-legged robot control systems robust to parametric and unstructured uncertainties.