Adaptive Force-based Control for Legged Robots
Mohsen Sombolestan,Yiyu Chen,Quan Nguyen,Mohsen Sombolestan,Yiyu Chen,Quan Nguyen
Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and robust locomotion. In this paper, we present a novel adaptive force-based control framework for legged robots. We introduce a new architecture in our proposed a...
