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性的目的，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、碰撞干扰、机器人足部与地面之间的滑动干扰以及机器人支承重量的动态变化。然后，在设计了垂直方向有虚拟弹簧和阻尼器的悬架模型的基础上，分别设计了俯仰角和横摇角方向的悬架模型。

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.