Wenxiang Deng

Event-Based Force-Sensorless Active Compliance Control with Robust Disturbance Rejection for Hydraulic Quadruped Robots

Achieving high-precision and highly adaptive leg joint control is a formidable challenge for hydraulic quadruped robots, owing to their dynamic uncertainties, nonlinearities, and frequent contact events. This paper proposes an event-based active compliance control strategy for hydraulic quadruped robots, which integrat...

Prescribed‐Time Tracking Control of Nonlinear Strict Feedback Systems With Time‐Varying Parameters and Disturbances Under Full‐State Constraints