Robust sliding-mode control applied to a 5-link biped robot

Tzafestas, S; Raibert, M; Tzafestas, C

dc.contributor.author	Tzafestas, S	en
dc.contributor.author	Raibert, M	en
dc.contributor.author	Tzafestas, C	en
dc.date.accessioned	2014-03-01T01:12:14Z
dc.date.available	2014-03-01T01:12:14Z
dc.date.issued	1996	en
dc.identifier.issn	0921-0296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12028
dc.subject	biped robots	en
dc.subject	robust control	en
dc.subject	sliding mode control	en
dc.subject	single leg-support phase	en
dc.subject	computer torque control	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	LOCOMOTION	en
dc.title	Robust sliding-mode control applied to a 5-link biped robot	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/BF00435728	en
heal.identifier.secondary	http://dx.doi.org/10.1007/BF00435728	en
heal.language	English	en
heal.publicationDate	1996	en
heal.abstract	In this paper the application of robust control to a 5-link biped robotic model is investigated through the sliding mode approach, and compared to pure computed torque control. The biped consists of five links, namely the torso and two links in each leg. These links are connected via four (two hip and two knee) rotating joints which are considered to be friction-free and driven by independent d.c. motors. The locomotion of the biped is assumed to be constrained on the sagittal plane. The paper provides a full derivation of the biped dynamic model (single-leg support phase, biped-in-the-air phase) and an outline of the computed torque and sliding mode control algorithms. The simulation results were derived with two sets of parameters (one of which corresponds to a human-sized biped) and several degrees of parametric uncertainty (from 10% to 200%). In all cases the results obtained through the sliding mode control were much better than those obtained with the computed torque control. This superiority was shown to become stronger as the degree of uncertainty and the size of the biped increases.	en
heal.publisher	KLUWER ACADEMIC PUBL	en
heal.journalName	JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS	en
dc.identifier.doi	10.1007/BF00435728	en
dc.identifier.isi	ISI:A1996TU21200009	en
dc.identifier.volume	15	en
dc.identifier.issue	1	en
dc.identifier.spage	67	en
dc.identifier.epage	133	en