Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Sliding Mode Controller Design for Biped Robot

이족보행로봇을 위한 슬라이딩 제어기 설계

  • 박인규 (인하대학교 자동화공학과) ;
  • 김진걸 (인하대학교 전자·전기·컴퓨터공학부) ;
  • 김기식 (인하대학교 물리학과)
  • Published : 2001.05.01
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Abstract

A robust controller with the sliding mode is proposed for stable dynamic walking of the biped robot in this paper. For the robot system to be controlled, which is modeled as 14 DOF rigid bodies by the method of multi-body dynamics, the joint angle trajectories are determined by the velocity transformation matrix. Also Hertz force model and Hysteresis damping element are utilized for the ground reaction and impact forces during the contact with the ground. The biped robot system becomes unstable since those forces contain highly confused noise components and some discontinuity, and modeling uncertainties such as parameter inaccuracies. The sliding mode control is applied to solve above problems. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance in spite of the presence of modeling imprecisions of uncertainties.

Keywords

References

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