Push recovery control of quadruped robot using particle swarm optimization based structure specified mixed sensitivity H2/H∞ control

What is it about?

Quadruped robot needs a good reflex to swing their legs side ways when they experience a significant impact disturbance. We show one method to calculate the stepping position of the quadruped legs after impact. We also introduce a small structure of robust H2/H∞ controller that is applicable on a small microcontroller to control the position of the reflex movement.

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