973 results about "Quadrupedal robot" patented technology

The invention relates to the technical field of navigation, and particularly provides a quadruped robot autonomous navigation method and system for a special environment, and the method comprises the steps: generating a semantic tag for depth point cloud data corresponding to a depth image through employing a recognition result of a target detection network for the depth image; calculating local odometer information according to the laser point cloud data and the inertial sensor data by using a laser radar mileage calculation method; fusing the depth point cloud data with the semantic label, the laser point cloud data with the semantic label and the local speedometer information to obtain positioning data in a pre-constructed point cloud map; constructing a multi-layer cost map according to the pre-constructed point cloud map, the newly acquired depth image, the laser point cloud data and the inertial sensor data by using a sensing method of a region planner; and generating navigation path information according to the positioning data and the multi-layer cost map by using a global path planning algorithm and a local path planning algorithm. The method improves the navigation precision.

The present invention provides an intelligent robot for power inspection and an inspection method thereof, comprising a quadruped robot, wherein a laser radar, a voiceprint sensor and an infrared sensor are provided at the front end of the quadruped robot; a pan-tilt base is provided at the middle of the quadruped robot, and a camera is provided on the pan-tilt base; a six-degree-of-freedom mechanical arm is also provided at the tail of the quadruped robot, and a mechanical claw is provided at the end of the mechanical arm. The robot flexibly plans tasks based on the layout of the substation, sets inspection cycles for different equipment according to their importance, and automatically generates accurate task plans, thereby avoiding the tediousness and omissions of manual planning and improving planning. The advanced path planning algorithm enables the robot to quickly plan the optimal path, integrates multiple positioning technologies to ensure accurate navigation, and effectively reduces travel time. Multiple inspection modes are carried out in parallel, non-stop inspections are dynamic screening, routine inspections are comprehensive inspections, and non-preset inspections are flexibly targeted at specific points, which greatly improves the coverage efficiency of the inspection and avoids detection blind spots.

A method for controlling motions of a quadruped robot based on reinforcement learning and position increment, including: acquiring motion environment information, quadruped robot attitude information, and foot sole position information; based on the acquired information, generating foot sole positions of the quadruped robot during motions within all preset time steps, and calculating a change of the foot sole positions in all the time steps; taking a maximum moving distance within a single time step as a constraint, and accumulating the time steps at the same time to obtain a foot sole position trajectory; and controlling the quadruped robot to perform corresponding actions based on the foot sole position track combined with a preset reward function, so as to keep motion balance of the quadruped robot.

The invention provides a hybrid representation learning-based omni-directional motion control method for a quadruped robot in a three-dimensional environment, aiming at solving the problem that an existing motion control method for the quadruped robot is limited by a narrow forward view angle and external perception noise of the robot, so that the omni-directional motion capability in the three-dimensional environment is difficult to obtain. Comprising the steps of designing various input and output contents of a first-stage end-to-end neural network learning framework, designing a training process including mixed representation learning based on a reinforcement learning framework, constructing a specific neural network model of each module, and constructing a quadruped robot simulation motion control training environment. The method has the advantages that network input and output content beneficial to efficiently learning the relation between actual observation of the robot and the environment truth value is provided, and a mixed representation learning method including supervised learning and comparative learning is introduced, so that the robot can effectively deduce environment information beyond the visual field range of the robot in the training process.

Disclosed is technology for controlling deep reinforcement learning-based legged robot locomotion by inferring implicit terrain information. A legged robot control method may include inferring an action of a quadrupedal robot from proprioception through a deep reinforcement learning-legged robot model, and a locomotion policy that implicitly infers properties of terrains through which the quadrupedal robot moves may be learned in the legged robot model.

The invention discloses a covariance self-adaptive control method for a quadruped robot for spine joint adjustment. The method comprises the following steps that 1, a spine quadruped robot kinematics model with spine joints, a robot trunk dynamics model with the spine joints and a robot leg multi-rigid-body dynamics model are established; 2, based on the energy stability margin theorem and the spine joint coupling effect, a posture control method of the spine joint quadruped robot is provided by combining a covariance self-adaptive evolutionary strategy, and the angle, rigidity and damping coefficient of spine joints are estimated and adjusted according to the terrain gradient; 3, extracting the spatial relationship between the trunk mass center and the foot ends of the robot as an expected reference, updating the expected mass center position in real time, and constructing a model prediction control method to control the posture of the spinal joint quadruped robot; 4, the position of the foot falling point of the swing leg is designed in advance in combination with the additional freedom degree provided by the spine joint and MPC prediction state information. The motion stability of the robot in the complex terrain is improved.

The invention discloses a quadruped robot obstacle avoidance control method and system based on path planning, and relates to the technical field of quadruped robot obstacle avoidance control, and the method comprises the steps: obtaining environment point cloud data, image data and quadruped robot motion speed data, and carrying out the terrain semantic segmentation and semantic pixel back projection of the image data, thereby obtaining a quadruped robot obstacle avoidance result; generating semantic point cloud data, combining the semantic point cloud data with the environment point cloud data subjected to motion compensation, and constructing a semantic annotation grid map; performing global path search on the semantic annotation grid map to generate a global smooth path; when the quadruped robot advances along the global smooth path, path nodes on the global smooth path are extracted at a fixed step pitch, the terrain category and the grid occupation state of each path node are judged according to the semantic annotation grid map, and a local reference path is generated; and executing a multi-stage obstacle avoidance strategy on the local reference path, and generating a foot end track sequence.

The invention provides a multi-mode cooperative sensing power station high-risk operation inspection method and system, and relates to the technical field of video recognition, and the method comprises the steps: activating an unmanned plane and a quadruped robot after a power station operation task is started; starting a video acquisition unit, and establishing a synchronous video stream; carrying out fusion alignment with the global reference coordinate system through an external synchronization signal; inputting the video sequence of the fused view angle into a multi-view angle action behavior recognition network, and establishing a dangerous behavior grade score; auditory data and olfactory data of the quadruped robot are obtained, and linkage abnormity is established; and polling abnormity is reported according to linkage abnormity and dangerous behavior grade scores. Through the method and the device, the technical problem of low inspection efficiency caused by difficulty in comprehensively identifying potential risks in a dynamic environment due to limitation of a single sensing mode is solved, and the inspection efficiency of a power station is improved by fusing multi-mode data, timely finding and processing the potential risks and improving the accuracy of video and audio identification.

The invention discloses an intelligent voice recognition and natural language interaction method based on a quadruped robot, and the method comprises the following steps: S1, collecting a user voice instruction, generating a standardized voice text, and extracting a semantic keyword set; s2, collecting multi-source sensing data of the quadruped robot and generating a structured state data tensor; s3, constructing a multi-modal collaborative modeling mechanism, and generating a multi-modal joint semantic embedding vector; s4, constructing a semantic map based on semantic embedding and generating an action chain plan structure; s5, executing each sub-action in the action chain, and performing path analysis and execution monitoring; s6, storing the interaction task as a multi-modal semantic behavior memory unit; and S7, performing similarity retrieval based on current semantic input and historical memory to realize behavior migration and action chain multiplexing. The method has the advantages of accurate semantic understanding, intelligent interaction response, high behavior migration capability and the like.

The invention discloses a deep reinforcement learning quadruped robot motion control method and system based on constraint rewards. The method comprises the following steps: establishing a simulation training environment of quadruped robot deep reinforcement learning; determining a reward function, a domain randomization parameter and a cost constraint function of the simulation training environment; based on the robot information and the first simulation environment information, training the initial strategy network model through a reward function and a cost constraint function in a simulation training environment to obtain a trained strategy network model; establishing a reasoning test environment, and deploying the trained strategy network model to the reasoning test environment for model reasoning test optimization to obtain a target strategy network model; and deploying the target strategy network model into the quadruped robot to perform motion control on the quadruped robot. According to the method, the difference between a simulation training environment and a real environment is reduced, so that the quadruped robot is stably controlled by the target strategy network model in the real environment.

The invention discloses a quadruped robot robust motion control method based on deep reinforcement learning, and belongs to the technical field of robot motion control, and the method comprises the steps: constructing a deep reinforcement learning model which comprises a state estimation network, a strategy network and a value network; interaction between the quadruped robot and the simulation environment is carried out, and standard observation information, historical observation information and privileged observation information of the quadruped robot at all moments are obtained; inputting the standard observation information, the historical observation information and the privilege observation information of the moment into a deep reinforcement learning model, and training based on a total loss function until convergence is carried out to obtain a trained deep reinforcement learning model; inputting standard observation information and historical observation information at corresponding moments in an actual scene into the trained deep reinforcement learning model to obtain output features of a corresponding strategy network; and the target position of each joint motor is calculated to complete the motion control of the quadruped robot. And efficient training and robust motion on various complex and unstructured terrains can be realized.

The invention discloses a quadruped robot motion control method and system based on reinforcement learning, and the method can simulate and analyze the motion behavior of a quadruped robot in a virtual environment through building a simulation model of the quadruped robot, remarkably reduces the research and development cost, remarkably shortens the research and development period, converts a balance control problem into a Markov decision process, defines a state, an action and a reward function, and improves the reliability of the quadruped robot. A more intelligent and adaptive balance strategy can be realized, a deterministic strategy gradient algorithm and a simulation model are adopted for interactive training, an efficient balance control strategy can be obtained, robot behaviors are adjusted in real time to keep balance, a walking task is decomposed into two sub-tasks of foothold selection and gait generation by utilizing a hierarchical control idea, and the walking efficiency is improved. Through reinforcement learning, walking flexibility and stability of the robot on irregular terrains are improved, the irregular terrains are built on a simulation platform for experimental verification, robot performance can be safely and repeatedly evaluated, and a strategy is further optimized.

The invention discloses a quadruped robot autonomous decision control system based on multi-modal perception, and belongs to the technical field of robot motion, and the system specifically comprises the steps: collecting visual, force and sound information through multiple sensors of a camera, a force sensor and a microphone array, and carrying out the preprocessing; according to the processed information, a diagonal gait, leg track and motion path planning scheme is generated by adopting a motion planning strategy; generating a specific control instruction to drive the robot to move, and monitoring and adjusting in real time; after the task is completed, the motion performance of the robot is evaluated, and a motion planning and control method is optimized according to an evaluation result; the autonomous motion ability and adaptability of the quadruped robot in a complex environment are improved.

The invention discloses a quadruped robot motion generation method under sparse terrain based on terrain reconstruction, and relates to the technical field of quadruped robot motion generation. Training a motion planning controller with a terrain perception memory mechanism based on multi-modal perception input; the elevation map of the terrain around the current quadruped robot is displayed and estimated from the body sensing information and the visual observation information of the airborne depth camera through a visual terrain reconstruction module; then, feature fusion is carried out on elevation map reconstruction results of the ontology perception information and the visual observation information, and comprehensive perception representation is obtained; and taking the comprehensive perception representation as input, constructing a corresponding reward function, and giving the expected moment of force of each joint of the quadruped robot in a complex discrete terrain with a sparse passable area in an end-to-end manner. The self gait can be adjusted in real time or in advance, the flexibility, adaptability and reliability of self movement in complex discrete terrains are improved, and the application of the quadruped robot is expanded.

The invention discloses a quadruped robot motion control method based on adaptive deep reinforcement learning. The method comprises the following steps: S1, determining a network model, a composite reward function, a state space and a bionic action generation mechanism of a simulation training environment; the state space provides environment information input, the network model processes the input information and generates a decision, the bionic action mechanism executes a specific decision behavior, and the composite reward function evaluates a behavior effect and optimizes a decision direction; s2, constructing a simulation training environment of the quadruped robot, wherein the simulation environment comprises quadruped robot model information and simulation environment information; s3, training the network model by using a deep reinforcement learning algorithm based on robot model information and simulated environment information to obtain a trained motion control strategy; and S4, verifying the feasibility of utilizing the trained motion control strategy by controlling the motion of the quadruped robot in a real environment. According to the invention, the self-adaptive capability to a complex environment is obviously improved.

The invention discloses a quadruped robot control method and device.The method comprises the steps that quadruped robot joint angle information is obtained, and the quadruped robot joint angle information comprises hip joint adduction and abduction angles, hip joint flexion and extension angles and knee joint bending angles; calculating a rotation error vector according to the joint angle information of the quadruped robot; according to the rotation error vector, a model prediction control objective function is constructed, and the optimization objective of the model prediction control objective function is that the error between a prediction model and an expected state is minimum; according to the model prediction control objective function, quadratic programming solving processing is carried out, and a foot end force prediction value is obtained; generating a joint torque command by using a virtual force model control method; and robot control is conducted according to the foot end force predicted value and the joint torque command. The quadruped robot control method realizes quadruped robot control, improves environmental fitness and anti-rollover capability, and reduces calculation complexity and response delay. The method can be widely applied to the technical field of robot control.

The invention provides a quadruped robot joint heat dissipation structure based on modular design, and relates to the technical field of robots. Comprising a first motor module, a second motor module connected with the output end of the first motor module, a third motor module connected with the output end of the second motor module and a mechanical leg connected with the output end of the third motor module. The heat dissipation base is sleeved outside the first motor module, and the first motor module is connected with the quadruped robot body; a heat dissipation cover plate is arranged on the outer wall of the second motor module; the third motor module is connected with the second motor module through a heat dissipation connecting piece; through the arrangement of the heat dissipation surrounding pieces, the heat dissipation openings, the heat dissipation connecting pieces, the semi-open type heat dissipation base and the heat dissipation cover plate, the heat retention rate between the first motor module, the second motor module and the third motor module and the first connecting piece and the second connecting piece can be effectively reduced, and the heat dissipation capacity is improved; and the working efficiency of the quadruped robot is guaranteed.

The invention relates to the field of mobile robot motion planning, and discloses a quadruped robot motion planning method and system based on height self-adaption. The method comprises the following steps: constructing 3D and 2D local obstacle maps according to coordinate transformation, and calculating a grid vertical distance through ray casting to generate a 2.5 D local obstacle map; determining an initial control sampling space by combining speed, acceleration and height constraints; discretizing a sampling space and simulation time, deducing a control value sequence and recursively calculating a local trajectory; then calculating a shaft alignment bounding box in a directed bounding box of the robot, screening grid units in the shaft alignment bounding box, comparing the height of a machine body with the allowable height of grids, and rejecting collision trajectories to obtain a feasible trajectory set; and finally selecting an optimal track by the evaluation function, extracting a control value and sending the control value to hardware for execution. According to the method, the 2.5 D local obstacle map containing height information is constructed, the four-dimensional control sampling space is designed, and the robot height self-adaptive adjustment is realized in combination with the collision detection and evaluation function.

The invention provides a quadruped robot fault-tolerant control method and system based on residual learning, and the method comprises the steps: constructing an ontology mechanism model based on phase information, dividing the phases of a supporting stage and a swinging stage based on a diagonal gait, and designing foot end tracks through combining a Bezier curve and a sine curve; designing a six-dimensional reward function including speed tracking, posture balance, foot movement direction, energy consumption control, body contact constraint and foot end contact excitation; a data-driven model based on a heterogeneous actor-commentator architecture is constructed, an actor network integrates terrain information, ontology sensing data and damage parameter estimation values, a commentator network integrates privilege information for strategy evaluation, and network parameters are optimized based on a near-end strategy optimization algorithm; and on the basis of a residual learning thought, a final motion instruction is generated by coupling the correction output by the data driving model with the ontology mechanism model.

The invention relates to a quadruped robot path planning method fusing visual semantic information and a laser radar. The method comprises the following steps: acquiring environment data, wherein the environment data comprises key ground semantic information, a depth image and original laser radar point cloud information; converting the key ground semantic information into laser radar key ground semantic point cloud information based on the depth image, and performing spatial fusion on the laser radar key ground semantic point cloud information and original laser radar point cloud information to obtain multi-source point cloud fusion information under a unified reference system; the multi-source point cloud fusion information is preprocessed, and non-ground interference points are filtered out; constructing a semantic enhanced local path planning model based on a semantic penalty term and a dynamic window path planning algorithm; on the basis of the feasible speed of the quadruped robot, the preprocessed multi-source point cloud fusion information and a semantic enhanced local path planning model, feasible trajectory selection is carried out, and an optimal obstacle avoidance planning path is determined. And the navigation safety and the task execution efficiency of the robot in a high-risk industrial environment are remarkably improved.

The invention provides a quadruped robot foot end terrain prediction method and system based on a long short-term memory network and reinforcement learning, and relates to the technical field of machine learning. Firstly, a teacher-student strategy model for predicting the foot end terrain of the quadruped robot is constructed, and the teacher-student strategy model comprises a teacher strategy model and a student strategy model; body sensing and privilege information and radar point cloud information of the quadruped robot are obtained, and a teacher strategy model is trained through the body sensing and privilege information, the radar point cloud information and reinforcement learning; the teacher strategy model is utilized to guide and train the student strategy model, and in the training process, the student strategy model uses a long short-term memory network to fit the privilege information coding value and the radar point cloud coding value in the teacher model; and the trained student strategy model is deployed on the quadruped robot for terrain prediction, stable walking in the unstructured terrain is realized, and the prediction robustness is improved.

The invention discloses a transformer substation inspection method and system based on a quadruped robot, and relates to the technical field of transformer substation inspection, and the method comprises the steps: collecting topographic data and temperature data based on the quadruped robot, planning an inspection path, and carrying out the temperature monitoring; collecting sound data based on the quadruped robot, calculating a sound source direction angle, extracting a time-frequency feature and determining a feature fluctuation amplitude; constructing a sound field model based on the characteristic fluctuation amplitude, generating a simulated sound pressure distribution diagram, determining a comparison error corresponding to each grid node in the simulated sound pressure distribution diagram based on sound pressure data acquired by the quadruped robot, and determining the grid nodes with the comparison errors greater than or equal to a comparison threshold as abnormal nodes; and giving an alarm according to the abnormal node, recording early warning information, and uploading the early warning information to a cloud end to give an alarm notification. According to the method, acoustic analysis is added, abnormal sound waves or abnormal fluctuation of local noise in the substation equipment is found in time, the early failure of the equipment is effectively detected, and the inspection efficiency is improved.

The invention provides a centroid estimation and compensation method and system for a variable-configuration quadruped robot with an arm, and relates to the technical field of quadruped robot motion planning, and the method comprises the steps: obtaining the state feedback information of the variable-configuration quadruped robot in the motion process; on the basis of the state feedback information, foot end contact force of the supporting legs is calculated through a whole-body dynamic model of the variable-configuration quadruped robot and a disturbance force observer based on generalized momentum; according to the foot end contact force of the supporting leg, adopting a centroid estimation algorithm of an online recursive strategy to estimate a centroid deviation value after unknown disturbance; according to the estimated centroid deviation value, a motion trail planner and a centroid dynamical model are adjusted, centroid deviation compensation is conducted through a whole body controller of the null space based on the adjusted result, the optimal joint torque is obtained, and real-time servo control is conducted; according to the invention, stable control of the quadruped robot under disturbance of internal force or external force such as double-arm movement, leg configuration change and unknown load is realized.

The invention belongs to the technical field of robot control, and particularly relates to a self-adaptive whole-body control method suitable for a quadruped robot in an uncertain dynamic environment, and the method integrates an extended state observer (ESO), a model prediction controller (MPC) and a whole-body controller (WBC) based on hierarchical optimization. And a closed-loop control architecture is constructed to improve the robustness and motion coordination ability of the quadruped robot in a complex environment. Firstly, external disturbance is estimated and compensated in real time through ESO; then, the MPC optimizes future system behaviors in a rolling manner under the condition of considering interference terms, and an expected foot end counter-acting force is output; and finally, the WBC is combined with the priorities of the multiple tasks to generate all joint control instructions in a constraint optimization form, and task collaboration and dynamic adaptation are achieved. The method has the advantages of being high in disturbance self-adaptive capacity, high in control precision, suitable for a multi-task environment and the like, and is particularly suitable for quadruped robot control tasks in complex dynamic scenes such as transportation and search and rescue.

The invention discloses a quadruped robot motion control method, system and device and a storage medium, and the method comprises the steps: dynamically selecting one of model prediction control and reinforcement learning reasoning as an effective mode for controlling the current advancing track of a robot according to target task information and robot positioning navigation data obtained in real time, according to the other control mode, an instruction output by tracking the effective mode is executed, so that undisturbed switching of the two control modes is achieved; according to the model prediction control, a kinematics model of the quadruped robot is established, Kalman filtering is combined for state estimation, and instructions of the positions, the speeds and the moments of all joints are output; and the reinforcement learning reasoning is used for training the reasoning model based on a reward function of tasks and safety energy efficiency, and outputting an instruction of each joint position. The requirements of the quadruped robot for adaptively passing through the complex terrain and accurately reaching the target position can be met at the same time, the control mode switching process is automatically completed, and mutual tracking is undisturbed.

The invention belongs to the technical field of robot control, and provides a quadruped robot fall-down self-recovery control method and system under complex terrains. The method comprises the following steps: extracting a tumble self-recovery strategy feature from privilege information subjected to normalization processing by using a teacher network, so as to provide an optimization reference for a student network; learning strategy characteristics simulating a teacher network by using a student network so as to process the normalized historical observation information of the ontology state information; after the strategy converges, the Actor network is used for processing the output characteristics of the student network and the real-time observation information of the normalized body state information, the next state observation information, the reward signal, the cost feedback and the task end mark are obtained through interaction with the simulation environment, and the action of the quadruped robot is output; evaluating the value of adopting a specific action in the current state; and processing the privilege information subjected to normalization processing by using a Cost network, and evaluating the cost of the current action of the quadruped robot.

Belongs to the technical field of motion control of foot-type robots, and particularly relates to an anti-interference whole-body control method and system for a quadruped robot based on stability margin perception. The expected joint position, speed and foot end contact force are obtained through nonlinear model predictive control NMPC; a whole body controller WBC based on hierarchical quadratic programming calculates a joint driving torque according to the task priority; according to the joint position, the speed and the torque fed back by the driver and a robot dynamic model, estimating the foot end contact force; calculating resultant force which causes instability of the robot relative to each support polygon side line of the robot; projecting the resultant force, and calculating an included angle between the projection force and the vertical direction; calculating a compensation acceleration through a PI controller; and the compensation acceleration is used as a part of a fuselage linear acceleration task in the WBC, so that the anti-interference capability of the robot is improved. The method is used for solving the problems that in the prior art, the stable state of the quadruped robot cannot be effectively sensed, and an anti-interference control strategy cannot be rapidly generated according to the stable state.

The invention discloses a quadruped robot inspection method based on multi-modal sensing fusion. The method comprises the following steps of: 1, initializing a global task, loading a basic navigation map, and generating the basic navigation map comprising topographic features, forbidden areas and parking positions; 2, autonomous navigation and dynamic correction of positioning deviation are realized according to laser radar SLAM data, and the positioning deviation is dynamically corrected according to real-time observation data; 3, dynamically switching or adjusting the gait strategy according to the terrain category, training the gait strategy of the quadruped robot to be matched with the terrain category, and generating a self-adaptive motion control instruction to adapt to the terrain in real time; and step 4, synchronously realizing parking area structured data acquisition and dynamic abnormal information perception through multi-sensor fusion, and realizing target state monitoring and abnormal event response in the inspection task. According to the invention, through collaborative innovation of the bionic motion platform and multi-mode intelligent detection, all-terrain coverage, total-factor perception and full-process autonomous intelligent inspection in a complex parking lot environment is realized.

The invention discloses a quadruped robot reinforcement learning motion planning method and system based on depth vision, and relates to the technical field of quadruped robot motion planning. The method comprises the steps that a simulation environment is built, modeling is carried out on stair terrains with different gradients and robot kinetic parameters, and a stair terrain model comprises stair terrains with different difficulty differences; the robot model is loaded to move in the stair terrain model, the movement condition of the robot is tracked, the speed tracking effect is obtained, and the speed tracking effect is obtained by conducting strategy evaluation on the joint torque value output by the teacher strategy network and the corresponding movement linear speed in the movement process of the robot; the speed tracking effect is evaluated, and environment parameters in the stair terrain model are adaptively adjusted according to the evaluation result. Through the reinforcement learning framework based on the depth visual information, the irregular stair terrain can be effectively learned, and the quadruped robot can stably work in a complex environment in a self-adaptive mode.

The invention relates to the technical field of quadruped robot control, and discloses a quadruped robot anti-disturbance motion control method based on a cost weight adaptive mechanism, which comprises the following steps: constructing a quadruped robot state equation based on a single rigid body dynamic model, a model prediction control problem with cost weight, friction cone constraint and gait constraint is formed through discretization; a cost weight self-adaptive mechanism based on disturbance observation is introduced on the basis of a model prediction control framework, the disturbance intensity is estimated by taking the attitude error of the fuselage and the corresponding change rate as disturbance observation values, and the cost weight corresponding to the attitude in the model prediction control problem is dynamically adjusted; by solving a model prediction control problem, an expected ground reaction force and a target state are calculated in real time, and motion control of the quadruped robot is realized in combination with a gait planner and a joint controller. According to the invention, the motion stability and anti-disturbance performance of the quadruped robot under external disturbance are improved based on a cost weight adaptive mechanism of disturbance observation.