Hierarchical Sliding Mode Algorithm for Athlete Robot Walking-Reference-Cited by-同舟云学术

Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

Published:2017 Issue: Volume:2017 Page:1-13
ISSN:1687-9600
Container-title:Journal of Robotics
language:en
Short-container-title:Journal of Robotics

Author:

Nguyen Van Dong Hai¹^ORCID,Huynh Xuan-Dung¹,Nguyen Minh-Tam¹,Vladu Ionel Cristian²,Ivanescu Mircea²

Affiliation:

1. Ho Chi Minh City University of Technology and Education (HCMUTE), 01 Vo Van Ngan Street, Thu Duc District, Ho Chi Minh City, Vietnam

2. University of Craiova (UCV), 13 Alexandru Ioan Cuza Street, 200585 Craiova, Romania

Abstract

Dynamic equations and the control law for a class of robots with elastic underactuated MIMO system of legs, athlete Robot, are discussed in this paper. The dynamic equations are determined by Euler-Lagrange method. A new method based on hierarchical sliding mode for controlling postures is also introduced. Genetic algorithm is applied to design the oscillator for robot motion. Then, a hierarchical sliding mode controller is implemented to control basic posture of athlete robot stepping. Successful simulation results show the motion of athlete robot.

Publisher

Hindawi Limited

Subject

General Computer Science,Control and Systems Engineering

Link

http://downloads.hindawi.com/journals/jr/2017/6348980.pdf

Reference13 articles.

1. Planning walking patterns for a biped robot

2. ZMP based neural network inspired humanoid robot control

3. ELASTIC LEG FUNCTION IN A BIPEDAL WALKING ROBOT

4. Toward a human-like biped robot with compliant legs

5. Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots

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