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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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2017-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2017/6348980 |
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| _version_ | 1832564127078285312 |
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| author | Van Dong Hai Nguyen Xuan-Dung Huynh Minh-Tam Nguyen Ionel Cristian Vladu Mircea Ivanescu |
| author_facet | Van Dong Hai Nguyen Xuan-Dung Huynh Minh-Tam Nguyen Ionel Cristian Vladu Mircea Ivanescu |
| author_sort | Van Dong Hai Nguyen |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-6e996ba012244a3381e1b7208e029ec2 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-6e996ba012244a3381e1b7208e029ec22025-02-03T01:11:46ZengWileyJournal of Robotics1687-96001687-96192017-01-01201710.1155/2017/63489806348980Hierarchical Sliding Mode Algorithm for Athlete Robot WalkingVan Dong Hai Nguyen0Xuan-Dung Huynh1Minh-Tam Nguyen2Ionel Cristian Vladu3Mircea Ivanescu4Ho Chi Minh City University of Technology and Education (HCMUTE), 01 Vo Van Ngan Street, Thu Duc District, Ho Chi Minh City, VietnamHo Chi Minh City University of Technology and Education (HCMUTE), 01 Vo Van Ngan Street, Thu Duc District, Ho Chi Minh City, VietnamHo Chi Minh City University of Technology and Education (HCMUTE), 01 Vo Van Ngan Street, Thu Duc District, Ho Chi Minh City, VietnamUniversity of Craiova (UCV), 13 Alexandru Ioan Cuza Street, 200585 Craiova, RomaniaUniversity of Craiova (UCV), 13 Alexandru Ioan Cuza Street, 200585 Craiova, RomaniaDynamic 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.http://dx.doi.org/10.1155/2017/6348980 |
| spellingShingle | Van Dong Hai Nguyen Xuan-Dung Huynh Minh-Tam Nguyen Ionel Cristian Vladu Mircea Ivanescu Hierarchical Sliding Mode Algorithm for Athlete Robot Walking Journal of Robotics |
| title | Hierarchical Sliding Mode Algorithm for Athlete Robot Walking |
| title_full | Hierarchical Sliding Mode Algorithm for Athlete Robot Walking |
| title_fullStr | Hierarchical Sliding Mode Algorithm for Athlete Robot Walking |
| title_full_unstemmed | Hierarchical Sliding Mode Algorithm for Athlete Robot Walking |
| title_short | Hierarchical Sliding Mode Algorithm for Athlete Robot Walking |
| title_sort | hierarchical sliding mode algorithm for athlete robot walking |
| url | http://dx.doi.org/10.1155/2017/6348980 |
| work_keys_str_mv | AT vandonghainguyen hierarchicalslidingmodealgorithmforathleterobotwalking AT xuandunghuynh hierarchicalslidingmodealgorithmforathleterobotwalking AT minhtamnguyen hierarchicalslidingmodealgorithmforathleterobotwalking AT ionelcristianvladu hierarchicalslidingmodealgorithmforathleterobotwalking AT mirceaivanescu hierarchicalslidingmodealgorithmforathleterobotwalking |