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

<div>Virtual components on one foot.</div>

Mathematical Problems in Engineering

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Figure 3

Figure 3: Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control 

Figure 3 | Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control 