  Agile-legged robots have proven to be highly effective in navigating and
performing tasks in complex and challenging environments, including disaster
zones and industrial settings. However, these applications normally require the
capability of carrying heavy loads while maintaining dynamic motion. Therefore,
this paper presents a novel methodology for incorporating adaptive control into
a force-based control system. Recent advancements in the control of quadruped
robots show that force control can effectively realize dynamic locomotion over
rough terrain. By integrating adaptive control into the force-based controller,
our proposed approach can maintain the advantages of the baseline framework
while adapting to significant model uncertainties and unknown terrain impact
models. Experimental validation was successfully conducted on the Unitree A1
robot. With our approach, the robot can carry heavy loads (up to 50% of its
weight) while performing dynamic gaits such as fast trotting and bounding
across uneven terrains.
