This paper presents an estimator of external disturbances for legged robots, based on the system’s momentum. The estimator, along with a suitable motion planner for the trajectory of the robot’s center of mass and an optimization problem based on the modulation of ground reaction forces, devises a whole-body controller for the robot. The designed solution is tested on a quadruped robot within a dynamic simulation environment. The quadruped is stressed by external disturbances acting on stance and swing legs indifferently. The proposed approach is also evaluated through a comparison with two state-of-the-art solutions.

中文翻译：

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通过四足机器人基于动量的观测器进行具有干扰抑制的全身控制^☆

本文提出了一种基于系统动量的腿式机器人外部扰动的估计器。估计器与机器人质心轨迹的合适运动规划器和基于地面反作用力调制的优化问题一起，为机器人设计了一个全身控制器。设计的解决方案在动态模拟环境中的四足机器人上进行了测试。四足动物受到外部干扰的压力，它们无动于衷地作用于站立和摆动腿。还通过与两种最先进的解决方案进行比较来评估所提出的方法。