Modeling and Robust Control of Quadruped Robot

摘要

The 9-Link dynamic model of a quadruped robot is built with Lagrangian method. Building the model from system view . Simplify the control of a quadruped robot under the four legs full supporting as the problems of tracking control of the truck motion, and the simple model is give. The motion of the robot under four legs full supporting is controlled by robust control. Settling the effect of the external disturbance act on the quadruped robot. Simulation shows that the robust control method is effective when used on the quadruped robot under full supporting.