Creating controllers for quadrupedal robot locomotion on platforms that exhibit dynamic behaviors, which are herein termed as dynamic platforms, poses a challenging problem because of the complexity of the associated hybrid, time-varying robot dynamics. Towards tackling this challenge, this article focuses on controller design for quadrupedal robot locomotion on dynamic rigid platforms, which are floating-base platforms with a rigid surface. The main contribution of this article is the derivation of a control approach that realizes stable quadrupedal robot locomotion on dynamic rigid platforms of known motions through the provable stabilization of the hybrid, time-varying robot control system. The control approach is synthesized based on the formulation of the robot model as a hybrid, time-varying system and the analysis of the closed-loop control system through the construction of multiple Lyapunov functions. Simulation and experimental results confirm the effectiveness of the proposed control approach in guaranteeing the stability and robustness of quadrupedal robot walking on dynamic rigid platforms.

中文翻译：

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动态刚性平台上四足机器人运动的稳定控制器

由于相关的混合时变机器人动力学的复杂性，在表现出动态行为的平台上创建用于四足机器人运动的控制器（在本文中称为动态平台）提出了一个具有挑战性的问题。为了应对这一挑战，本文重点介绍了四轴机器人在动态刚性平台上的运动控制器设计，这些平台是具有刚性表面的浮动基座平台。本文的主要贡献是一种控制方法的推导，该方法通过可证明的混合时变机器人控制系统的稳定性，在已知运动的动态刚性平台上实现稳定的四足机器人运动。控制方法是根据机器人模型的混合形式进行综合的，时变系统和通过构造多个Lyapunov函数对闭环控制系统进行分析。仿真和实验结果证实了所提出的控制方法在保证四足机器人在动态刚性平台上行走的稳定性和鲁棒性方面的有效性。