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

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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.