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

<div>Control performance with different <span class="nowrap"><svg height="9.49473pt" id="M166" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 7.30254 9.49473" width="7.30254pt" 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="M529 97L508 118C475 75 449 58 438 58C428 58 421 66 415 104C393 234 374 403 364 496C345 670 307 712 254 712C220 712 174 691 153 669L161 645C176 653 194 658 206 658C237 658 261 640 278 562C287 522 290 483 293 434C223 269 110 105 23 9L32 -12C59 -6 85 0 108 7C152 64 251 252 300 366C307 297 315 221 337 82C346 24 363 -12 393 -12C425 -12 475 13 529 97Z"></path></g></svg>.</span> (a) Variation curves of the vehicle height. (b) Variation curves of estimated weight.</div>

Mathematical Problems in Engineering

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Figure 5

Figure 5: Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control 

Figure 5 | Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control 