Whole-body control with disturbance rejection through a mometum-based observer for quadruped robots

This video shows experiments performed for the paper by V. Morlando, A. Teimoorzadeh, and F. Ruggiero "Whole-body control with disturbance rejection through a mometum-based observer for quadruped robots" accepted for publication in the Mechanism and Machine Theory journal.
SUPPLEMENTARY MATERIAL
Paper and code: github.com/pri...
ABSTRACT
This paper presents an estimator of external disturbances for legged robots, based on the system's momentum.
The estimator, along with a suitable motion planner for the trajectory of the robot's center of mass and an optimization problem based on the modulation of ground reaction forces, devises a whole-body controller for the robot.
The designed solution is tested on a quadruped robot within a dynamic simulation environment. The quadruped is stressed by external disturbances acting on stance and swing legs indifferently. The proposed approach is also evaluated through a comparison with two state-of-the-art solutions.