2족 보행 로봇트 시스템에 대한 슬라이딩 모드 제어알고리즘의 적용에 관한 연구

A Study on the Application of Sliding Mode Control Algorithm to the Biped Robot System

In the systems such as walking robots or high speed operating manipulators, the effect of nonlinear terms is important and can not be neglected. Therefore the application of linear control law to such systems is inadequate. Moreover, because of the mathematical modeling errors the systems may become unstable. In this study, we designed a nonlinear controller with sliding mode scheme, which is robust to the modeling errors and applied this control algorithm to the 5 DOF biped robot system. Throught the computer simulations, we examined walking characteris and walking stability of the 5 DOF biped robot system.