Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control

<div>Variation curves of relative variables in the case of walking vehicle trotting on flat ground. (a) Variation curves of the vehicle height. (b) Variation curves of estimated weight of the adaptive sliding mode controller.</div>

Mathematical Problems in Engineering

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Figure 10

Figure 10: Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control 

Figure 10 | Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control 