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

Figure 13

Variation curves of speed error in the case of vehicle trotting on slope. (a) Variation curves of vehicle height. (b) Variation curves of forward speed. (c) Variation curves of lateral speed. (d) Absolute values of lateral speed error. (e) Variation curve of estimated weight.

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(b)

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