...Bingwei Gao; Hongjian Zhao; Wenlong Han; Shilong Xue Purpose This study proposes a predictive neural network model reference decoupling control method for the coupling problem between the leg joints of hydraulic quadruped robots, and verifies its decoupling effect.. Design/methodology/approach...

.... Second, the target impedance parameters were optimized based on the artificial fish swarm algorithm. Third, to improve the robustness of the impedance controller in unknown environments, a controller is designed based on model reference adaptive control (MRAC) theory and an adaptive impedance control...

... dynamics model of the two joints of the thigh and the calf is derived. On the basis of the multivariable decoupling theory, a neural network (NN) model reference decoupling controller is designed. Findings The simulation and prototype experiment are carried out between the thigh joint and the calf...