In this paper, we present a novel methodology to introduce adaptive control for force-based control systems, with application to legged robots. In our approach, the reference model is based on the quadratic program force control. We evaluate our proposed control design on a high-fidelity physical simulation of LASER, a dynamic quadruped robot. Our proposed method guarantees input-to-state stability and is successfully validated for the problem of quadruped robots walking on rough terrain while carrying unknown and time-varying loads.

翻译：在本文中,我们提出了一个新方法来引入对武力控制系统的适应性控制,该方法适用于腿上的机器人。在我们的方法中,参考模型以二次程序力量控制为基础。我们评估了我们提议的对动态的四重立机器人LASER的高度忠诚物理模拟的控制设计。我们的拟议方法保证了输入到国家的稳定性,并成功地验证了四重机器人在布局上行走,同时携带未知和时间变化的负载。