Design of single leg foot force controller for hydraulic actuated quadruped robot based on ADRC

To deal with the requirement of high-performance controller of single leg foot force for improving the flexibility of complex environment for quadruped robot, the inaccuracies of dynamical model of quadruped robot, and the model of force control changing through the load changes, through analysis of hydraulic system and single leg dynamical model, hydraulic actuated leg model is built for foot force controlling. Combined with the characteristic of force control, a feed-forward paralleled Active Disturbance Rejection Controller (ADRC) for foot-end-force control of support leg is designed, which have not only the model flexibility of ADRC but also a fast responding as feed-forward. Proved by RecurDyn/Matlab united simulation platform and quadruped bionic robot prototype system, the force controller gives accurate, stabile performance and fast responding. As a basic of force control frame of quadruped robot, the force controller plays an important role in following research of quadruped robot.