Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control

<div>Variation curves of speed error in the case of vehicle trotting on flat ground. (a) Forces between load and torso in forward direction. (b) Forces between load and torso in lateral direction. (c) Absolute values of forward speed error. (d) Absolute values of lateral speed error.</div>

Mathematical Problems in Engineering

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Figure 11

Figure 11: Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control 

Figure 11 | Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control 