외란 상황에서 드론 격추를 위한 4족 보행 로봇의 외란 추정 및 전신 자세제어

This paper proposes a disturbance estimation and posture control algorithm for a quadruped robot to perform tasks in environments with external disturbances. The body posture controller utilizes whole-body dynamic to derive stabilization torques through state feedback control, and optimizes the vertical ground reaction forces of each leg using quadratic programming. The disturbance observer models the quadruped robot as a single rigid body and uses a Kalman filter in an observer form to estimate external disturbances. Finally, the estimated disturbance is fed back into the posture controller to construct a control framework that enables robust posture stabilization, allowing the robot to strike targets faster than conventional even under disturbance conditions.