Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

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 intr...

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Bibliographic Details
Main Authors: Van Dong Hai Nguyen, Xuan-Dung Huynh, Minh-Tam Nguyen, Ionel Cristian Vladu, Mircea Ivanescu
Format: Article
Language:English
Published: Wiley 2017-01-01
Series:Journal of Robotics
Online Access:http://dx.doi.org/10.1155/2017/6348980
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Summary: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.
ISSN:1687-9600
1687-9619