Abstract This work presents a set of methods for leg control and contact estimation for a quadruped robot. Proposed foot control algorithm incorporates the leg’s dynamic model combines with inverse kinematics. External force estimation approach based on a generalized momentum force observer is used for foot contact detection. All the methods are implemented and validated both in a simulation environment and on the robotic hardware platform developed at the Institute of Mechanics of Lomonosov Moscow State University. Experimental results demonstrate high accuracy and smoothness of leg motion, along with reliable contact detection. The proposed approaches are suitable for integration into control systems of legged robots operating in unstructured and challenging terrains.
V. A. Danilov (2026) studied this question.