A Sliding Mode Control of a Biped Robot

Authors :: Sachio, Tsukamoto
Valeri, Kroumov
Tetsuya, Yamaoka
岡山理科大学工学部電子工学科
 Department of Electronic Engineering, Okayama University of Science
Source :: 岡山理科大学紀要. A, 自然科学. 32:313-324
Publication Year :: 1996
Abstract: An experimental study of a bipet robot is presented. The biped robot has three actuators placed on its body and two actators at the kneet. A sliding mode control is utilized for controlling a biped walking on a rugged terrain. The sliding plane is constructjd using the target trajectory and its derivative. This sliding plane is used to determine the control variables in order to pursue the reference angles.

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