Robust control for dynamic walking of a biped robot with ground contacting condition

A robust controller with the sliding mode is proposed for stable dynamic walking of a biped robot in this paper. The robot system is modeled as 14-DOF rigid bodies considering kinematic construction of a humanoid. The method of multibody dynamics is applied to construct the equations of motion for t...

Full description

Saved in:
Bibliographic Details
Main Authors: In-Gyu Park, Jin-Geol Kim
Format: Conference Proceeding
Language:English
Subjects:
Damping
Equations
Foot
Humanoid robots
Hysteresis
Kinematics
Legged locomotion
Optimization methods
Robust control
Sliding mode control
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:A robust controller with the sliding mode is proposed for stable dynamic walking of a biped robot in this paper. The robot system is modeled as 14-DOF rigid bodies considering kinematic construction of a humanoid. The method of multibody dynamics is applied to construct the equations of motion for the complicated biped robot system. In order to obtain the optimized trunk trajectory, the modified FFT method is solved iteratively. The dynamic walking simulation is performed by using optimized trajectories of the trunk and each foot. Also, Hertz force model and hysteresis damping element are employed for the ground reaction and impact forces during contact with the ground. Finally, the sliding mode control is applied to solve the problems of modeling imprecisions or uncertainties. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance.
DOI:10.1109/ISIE.2001.932034