Intellectual walk control of the whole body position, posture, force and moment of multi-legged robot based on virtual dynamics

为了实现多足步行机器人在不规则地形上行走时保持姿态稳定的目的，提出了一种基于虚拟悬架模型的鲁棒控制方法。该方法考虑了主动控制输入、机器人脚与地面之间的碰撞和滑移干扰以及机器人支撑重量的动态变化。然后，在设计了一个在垂向、俯仰角和侧倾角方向分别设置了虚拟弹簧和虚拟阻尼器的悬架模型的基础上，进行了仿真研究。

In order to realize the purpose of keeping the posture stability of the multi-legged walking robot when it is walking on irregular terrain, we proposed a robust control method based on the virtual suspension model. This method considers the active control input and disturbances from collisions and the slippage between the foot of the robot and the ground, and the dynamic change of the supported weight of the robot. And then, on the basis of designing a suspension model which has virtual springs and dampers in the vertical direction, the directions of the pitch angle and the roll angle, respectively.