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The main advantage of legged robots is their capability to move through complicated and challenging terrains. The momentum-based observer is a powerful tool for robust control and disturbance rejection due to its simple structure and high performance. The estimator, along with a suitable motion planner for the trajectory of the robot’s centre of mass and an optimization problem based on the modulation of ground reaction forces, devises a whole-body controller for the robot. The quadruped is stressed by external disturbances acting indifferently on stance and swing legs. Other control techniques have been developed where quadruped robots perform non-prehensile manipulation actions and interact with the environment (e.g., visually impaired people).

Proposed solutions: