Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.3443pt" id="M1" height="15.7437pt" version="1.1" viewBox="-0.0657574 -11.3994 26.9666 15.7437" width="26.9666pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g113-73" d="M828 650H570L564 622C646 614 650 609 634 524L604 366H253L281 524C296 608 308 615 382 622L388 650H132L126 622C211 615 214 609 198 524L121 122C106 42 102 35 23 28L17 0H276L282 28C196 35 191 40 206 122L243 324H597L559 123C544 42 537 35 452 28L446 0H710L716 28C632 35 628 43 643 122L719 524C735 610 741 615 822 622L828 650Z"/></g><g transform="matrix(.012,0,0,-0.012,13.299,4.134)"><path id="g14-30" d="M1034 231C1034 352 945 457 803 457C686 457 615 395 553 303C486 406 399 457 271 457C159 457 30 375 30 212C30 102 108 -12 267 -12C382 -12 450 51 509 142C577 37 668 -12 799 -12C917 -12 1034 68 1034 231ZM483 186C432 104 369 32 277 32C215 32 175 127 175 249C175 362 216 414 257 414C348 414 423 291 483 186ZM887 200C887 56 847 32 809 32C715 32 640 154 579 260C631 342 696 414 789 414C852 414 887 338 887 200Z"/></g></svg> Robust Control

<div>Supporting stripe as the supporting polygon for the ZMP. The ZMP trajectory can be made straight along the <svg height="6.1673pt" id="M51" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 7.39387 6.1673" width="7.39387pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M536 404C536 423 520 448 491 448C445 448 398 404 308 283L286 338C255 416 242 448 217 448C182 448 138 402 92 341L111 321C149 368 169 378 178 378C188 378 198 363 214 320L254 212C185 117 138 65 107 65C98 65 85 69 82 75C79 82 73 86 65 86C44 86 23 60 23 39C23 7 44 -12 71 -12C119 -12 168 33 265 177L306 61C321 17 347 -12 373 -12C413 -12 465 33 507 96L491 119C459 84 432 60 413 60C395 60 378 92 358 148L321 250C341 279 369 310 389 332C417 363 439 382 456 382C466 382 475 376 481 368C486 361 492 358 496 358C513 358 536 381 536 404Z" id="g113-121"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="559" vert-adv-y="559"></glyph.data></g></svg>-axis.</div>

Journal of Control Science and Engineering

fig6

Figure 6

Figure 6: Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.3443pt" id="M1" height="15.7437pt" version="1.1" viewBox="-0.0657574 -11.3994 26.9666 15.7437" width="26.9666pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g113-73" d="M828 650H570L564 622C646 614 650 609 634 524L604 366H253L281 524C296 608 308 615 382 622L388 650H132L126 622C211 615 214 609 198 524L121 122C106 42 102 35 23 28L17 0H276L282 28C196 35 191 40 206 122L243 324H597L559 123C544 42 537 35 452 28L446 0H710L716 28C632 35 628 43 643 122L719 524C735 610 741 615 822 622L828 650Z"/></g><g transform="matrix(.012,0,0,-0.012,13.299,4.134)"><path id="g14-30" d="M1034 231C1034 352 945 457 803 457C686 457 615 395 553 303C486 406 399 457 271 457C159 457 30 375 30 212C30 102 108 -12 267 -12C382 -12 450 51 509 142C577 37 668 -12 799 -12C917 -12 1034 68 1034 231ZM483 186C432 104 369 32 277 32C215 32 175 127 175 249C175 362 216 414 257 414C348 414 423 291 483 186ZM887 200C887 56 847 32 809 32C715 32 640 154 579 260C631 342 696 414 789 414C852 414 887 338 887 200Z"/></g></svg> Robust Control 

Journal of Control Science and Engineering

Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity Robust Control

Figure 6