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

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Abstract

A nine-link planar biped robot model is considered which, in addition tothe 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 issynthesized, and the corresponding desired trajectories of the robot jointsare calculated. Next, the kinematic and dynamic equations that describe itslocomotion during the various walking phases are briefly presented. Finally,a nonlinear robust control approach is followed, motivated by the fact thatthe control which has to guarantee the stability of the biped robot musttake into account its exact nonlinear dynamics. However, an accurate modelof the biped robot is not available in practice, due to the existence ofuncertainties of various kinds such as unmodeled dynamics and parameterinaccuracies. Therefore, under the assumption that the estimation error onthe unknown (probably time-varying) parameters is bounded by a givenfunction, a sliding-mode controller is applied, which provides a successfulway to preserve stability and achieve good performance, despite the presenceof strong modeling imprecisions or uncertainties. The paper includes a setof representative simulation results that demonstrate the very good behaviorof the sliding-mode robust biped controller.

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Authors and Affiliations

  1. Intelligent Robotics and Automation Laboratory, Department of Electrical and Computer Engineering, National Technical University of Athens, 15773, Zografou Campus, Athens, Greece

    Spyros G. Tzafestas & Thanassis E. Krikochoritis

  2. Laboratoire Robotique de Paris-CRIIF, Univ. P. et M. Curie, 10-12 av. de l’Europe, 78140, Velizy-Villacoublay, France

    Costas S. Tzafestas

Authors
  1. Spyros G. Tzafestas
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  2. Thanassis E. Krikochoritis
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  3. Costas S. Tzafestas
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Tzafestas, S.G., Krikochoritis, T.E. & Tzafestas, C.S. Robust Sliding-mode Control of Nine-link Biped Robot Walking. Journal of Intelligent and Robotic Systems 20, 375–402 (1997). https://doi.org/10.1023/A:1007924731253

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  • DOI: https://doi.org/10.1023/A:1007924731253

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