Control scheme of the adaptive control with online unknown payload identification. The Adaptive Control for Quadruped Locomotion (ACQL) identifies the mass of the payload directly and generates an update law. The recursive result of the update law is the moment of the payload concerning the robot. ACQL also generates a control law by which the robot can adjust its posture. The torques of joints are calculated via inverse dynamics based on Quadratic Programming (QP) solver.

Control scheme of the adaptive control with online unknown payload identification. The Adaptive Control for Quadruped Locomotion (ACQL) identifies the mass of the payload directly and generates an update law. The recursive result of the update law is the moment of the payload concerning the robot. ACQL also generates a control law by which the robot can adjust its posture. The torques of joints are calculated via inverse dynamics based on Quadratic Programming (QP) solver.

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Quadruped robots manifest great potential to traverse rough terrains with payload. Numerous traditional control methods for legged dynamic locomotion are model-based and exhibit high sensitivity to model uncertainties and payload variations. Therefore, high-performance model parameter estimation becomes indispensable. However, the inertia parameter...

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Context 1
... scheme of ACQL for the identification of the payload's mass and moment is shown in Fig. 2. In the proposed ACQL, the payload's estimated mass is given by an analytical solution which is computationally efficient. A control law is proposed to adjust the robot's posture while an update law is used to identify the moment of the payload ...

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