ZMP preview control based compliance control for a walking quadruped robot

In this paper, a compliance control strategy based on ZMP preview control for quadruped walking gait locomotion under unperceived disturbances is proposed. The preview control is designed to plan the CoM trajectory to realize the desired ZMP. When the robot suffers from interference of environmental disturbances, we introduce an adjusted expected ZMP to suppress the change of the ZMP. The force distribution module calculate desired contact force by eliminating interaction force between the stance legs and the force controller make the contact force track the desired force. Simulation results demonstrate the effectiveness of our compliance control strategy based on ZMP preview control as the quadruped robot successfully walking under unperceived disturbances.