Posture stabilization algorithm of quadruped walking robot in the presence of disturbances

This paper describes the posture stabilization algorithm of a quadruped walking robot in the presence of disturbances. The study was motivated by a recent increase in the demand for quadruped walking robots capable of safe locomotion on rough terrains typical of disaster regions. To overcome the challenges of such rough terrains, a robot's dynamic stability must be maintained irrespective of the ground slope or external forces; hence, a posture stabilization algorithm for quadruped walking is required. In this study, we first performed the body-balance control for disturbances using an inverted pendulum model; then, we conducted the foot-landing position control using a cart-inverted pendulum model. We built a framework for the posture stabilization algorithm by combining the above two controllers and consequently verified the performance of the posture stabilization of our quadruped walking robot in the presence of external forces and on a slope using the Webots dynamics simulator.