Robust Sliding-mode Control of Nine-link Biped Robot Walking

Tzafestas, SG; Krikochoritis, TE; Tzafestas, CS

dc.contributor.author	Tzafestas, SG	en
dc.contributor.author	Krikochoritis, TE	en
dc.contributor.author	Tzafestas, CS	en
dc.date.accessioned	2014-03-01T01:13:19Z
dc.date.available	2014-03-01T01:13:19Z
dc.date.issued	1997	en
dc.identifier.issn	0921-0296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12425
dc.subject	Biped dynamic model	en
dc.subject	Biped kinematic model	en
dc.subject	Biped locomotion	en
dc.subject	Biped walking pattern	en
dc.subject	Nine-link biped robot	en
dc.subject	Sliding-mode control	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	Biped locomotion	en
dc.subject.other	Calculations	en
dc.subject.other	Computer simulation	en
dc.subject.other	Dynamics	en
dc.subject.other	Mathematical models	en
dc.subject.other	Nonlinear control systems	en
dc.subject.other	Robustness (control systems)	en
dc.subject.other	System stability	en
dc.subject.other	Universal joints	en
dc.subject.other	Biped dynamic model	en
dc.subject.other	Biped kinematic model	en
dc.subject.other	Biped walking pattern	en
dc.subject.other	Nine link biped robot	en
dc.subject.other	Robust sliding mode control	en
dc.subject.other	Mobile robots	en
dc.title	Robust Sliding-mode Control of Nine-link Biped Robot Walking	en
heal.type	journalArticle	en
heal.identifier.primary	10.1023/A:1007924731253	en
heal.identifier.secondary	http://dx.doi.org/10.1023/A:1007924731253	en
heal.language	English	en
heal.publicationDate	1997	en
heal.abstract	A nine-link planar biped robot model is considered which, in addition to the main links (i.e., legs, thighs and trunk), includes a two-segment foot. First, a continuous walking pattern of the biped on a flat terrain is synthesized, and the corresponding desired trajectories of the robot joints are calculated. Next, the kinematic and dynamic equations that describe its locomotion during the various walking phases are briefly presented. Finally, a nonlinear robust control approach is followed, motivated by the fact that the control which has to guarantee the stability of the biped robot must take into account its exact nonlinear dynamics. However, an accurate model of the biped robot is not available in practice, due to the existence of uncertainties of various kinds such as unmodeled dynamics and parameter inaccuracies. Therefore, under the assumption that the estimation error on the unknown (probably time-varying) parameters is bounded by a given function, a sliding-mode controller is applied, which provies a successful way to preserve stability and achieve good performance, despite the presence of strong modeling imprecisions or uncertainties. The paper includes a set of representative simulation results that demonstrate the very good behavior of the sliding-mode robust biped controller.	en
heal.publisher	KLUWER ACADEMIC PUBL	en
heal.journalName	Journal of Intelligent and Robotic Systems: Theory and Applications	en
dc.identifier.doi	10.1023/A:1007924731253	en
dc.identifier.isi	ISI:000071760600016	en
dc.identifier.volume	20	en
dc.identifier.issue	2-4	en
dc.identifier.spage	375	en
dc.identifier.epage	402	en