广东工业大学学报2026，Vol.43Issue(3)：73-81,9.DOI:10.12052/gdutxb.250208
具有未知负载的四足机器人自适应运动控制
Adaptive Locomotion Control for Quadruped Robots Carrying Unknown Payloads
摘要
Abstract
Quadruped robots have the potential to traverse challenging natural environments with payloads.Recent advancements have demonstrated the efficacy of optimization-based control methods for locomotion of quadruped robots;however,these methods rely heavily on precise dynamic models to meet high performance.When robots carry unknown payloads,the resulting payload-induced dynamic uncertainties can significantly degrade performance or even lead to failure in practical applications.To address this issue,a motion control method integrating quadratic programming(QP)with adaptive control techniques is proposed.First,an adaptive parameter estimator based on Lyapunov stability analysis is designed to achieve online identification of the unknown payload mass.Subsequently,a nonlinear disturbance observer(DOB)is introduced to provide real-time compensation for torque disturbances caused by payload variations.Building upon this foundation,a QP-based balance controller is developed to solve optimal foot contact force allocation under friction cone constraints.Finally,simulations and real-world experiments under various payloads and operating conditions are conducted on the Unitree Go1 quadruped robot.Experimental results demonstrate that the proposed method outperforms comparison methods in terms of centroid trajectory tracking accuracy and body posture stability,verifying its effectiveness and robustness.关键词
四足机器人/二次规划/扰动观测器/李雅普诺夫函数Key words
quadruped robot/quadratic programming/disturbance observer/Lyapunov function分类
信息技术与安全科学引用本文复制引用
陈清,李文智,刘勇华..具有未知负载的四足机器人自适应运动控制[J].广东工业大学学报,2026,43(3):73-81,9.基金项目
国家自然科学基金资助项目(62173097,62121004,U2013601) （62173097,62121004,U2013601）
