Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left">Control mode</td><td class="align_center">Stability</td><td class="align_center">Position steady-state error (deg)</td><td class="align_center">Peak current (A)</td><td class="align_center">Compliance</td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">Impedance control</td><td class="align_center">Stable</td><td class="align_center">11.4</td><td class="align_center">4.309</td><td class="align_center">Soft</td></tr><tr><td class="align_left">Position control</td><td class="align_center">Unstable</td><td class="align_center">—</td><td class="align_center">11.03</td><td class="align_center">Hard</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Comparison between pure position control and impedance control.</div>

Applied Bionics and Biomechanics

tab2

Table 2

Table 2: Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation 