Adaptive Interactive Control of Human and Quadruped Robot Load Motion

摘要

In this article, we propose an adaptive control method for quadruped robots carrying unknown static loads and realizing dynamic human–robot interaction motion. To enhance the load capacity of quadruped robots, the control method based on pulse impulse and recursion is proposed to identify the actual Center of Mass (CoM) position of the trunk. The actual CoM position of the quadruped robot is estimated according to the moment generated by the pulse, so as to realize the stability control of the quadruped robot after carrying unknown load. On this basis, to enhance the human–robot interaction ability of quadruped robot, the human arm is modeled, combined with the complexity of the manipulator, through the adaptive control method to reduce the negative external disturbances of the human arm, and make good use of the positive contribution. Finally, we carry out load and human–robot interaction experiments in multiple scenarios, and prove that the adaptive control method achieves fast and stable results in the process of quadruped robot carrying loads and human–robot interaction motion.