Kang, Jeonguk Kim, Hyun-Bin Ham, Byeong-Il Kim, Kyung-Soo 2024-11-30T06:30:37Z 2024-11-30T06:30:37Z 2024-11-30 2024-10 https://pubs.kist.re.kr/handle/201004/151226 This article studies a robust controller capable of responding to external forces applied to a quadruped robot. Unlike conventional methods, our controller utilizes information about external forces to achieve better performance. We incorporate disturbance feedback into the robot dynamics and calculate a balancing index that considers the estimated force information to ensure coverage of the robot's support polygon. This approach allows the robot to adjust its legs in response to external forces, redistribute ground reaction forces, and enhance stability, enabling it to handle greater pressures. Additionally, it increases the amount of traction force generated while maintaining posture. These capabilities are expected to maximize disturbance resilience, enhance task performance, and improve stability during interactions with external environments, ultimately contributing to improved mobility of the robot in real-world scenarios. English Institute of Electrical and Electronics Engineers Inc. External Force Adaptive Control in Legged Robots Through Footstep Optimization and Disturbance Feedback Article 10.1109/ACCESS.2024.3485094 1 IEEE Access, v.12, pp.157531 - 157539 IEEE Access 12 157531 157539 Y scie scopus 001346685800001 2-s2.0-85207429518 Computer Science, Information Systems Engineering, Electrical & Electronic Telecommunications Computer Science Engineering Telecommunications Article DESIGN Legged locomotion Legged locomotion robot dynamics robot dynamics adaptive control adaptive control