Modeling and Robust Iterative Learning Control of a Quadruped Robot

Abstract In this paper, the problem of modeling and control of a planar eight-degrees of freedom quadruped robot is investigated. First a new methodology for dynamic modeling of quadruped robot introduced based on the tree structure of the quadruped robot and using the Euler-Lagrange method. Then, a new control scheme is proposed based on the presented model. The control scheme is composed of a robust control term and an iterative learning controller The robust controller is designed based on the Lyapunov theorem to overcome the degrading effect of the disturbances and uncertainties exist in the system model. Whereas the iterative learning strategy accounts for enhancing the performance of the quadruped robot. The effectiveness of the proposed approach is demonstrated via simulations performed on a obtained model for a eight-link quadruped.