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

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 20, Issue 2-4, 1997, Pages 375-402

  Tzafestas, Spyros G ^a   Krikochoritis, Thanassis E ^a   Tzafestas, Costas S ^b  

^a NATIONAL TECHNICAL UNIVERSITY OF ATHENS   (Greece)

^b UNIVERSITÉ PIERRE ET MARIE CURIE   (France)

Author keywords

Biped dynamic model; Biped kinematic model; Biped locomotion; Biped walking pattern; Nine link biped robot; Sliding mode control

Indexed keywords

BIPED LOCOMOTION; CALCULATIONS; COMPUTER SIMULATION; DYNAMICS; MATHEMATICAL MODELS; NONLINEAR CONTROL SYSTEMS; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY; UNIVERSAL JOINTS;

BIPED DYNAMIC MODEL; BIPED KINEMATIC MODEL; BIPED WALKING PATTERN; NINE LINK BIPED ROBOT; ROBUST SLIDING MODE CONTROL;

MOBILE ROBOTS;

EID: 0031250682     PISSN: 09210296     EISSN: None     Source Type: Journal    
DOI: 10.1023/a:1007924731253     Document Type: Article

References (9)

1. Yamada, M., Furusho, J., and Sano, A.: Dynamic control of walking robot with kick-action, in: Proc. 1985 Int. Conf. on Advanced Robotics (ICAR '85), Tokyo, 1985, pp. 405-412.
2. Tzafestas, S. G., Raibert, M., and Tzafestas, C. S.: Robust sliding-mode control applied to a 5-link biped robot, J. of Intelligent and Robotic Systems 15 (1996), 67-133.
3. Mochon, S.: A mathematical model of human walking, in: Lectures on Mathematics in Life Sciences, Vol. 14, Amer. Math. Soc., New York, 1981.
4. Hemami, H., Zheng, Y. F., and Hines, M.: Initiation of walk and tiptoe of planar nine-link biped, Math. Biosciences 61 (1982), 163-189.
5. Tzafestas, S. G., Krikochoritis, T. E., and Tzafestas, C. S.: Robust adaptive gait control of a 9-link biped robot, Tech. Report, IRAL/ECE Dept., NTUA, Greece, Dec. 1996.
6. Zheng, Y. F. and Hemami, H.: Impact effects of biped contact with the environment, IEEE Trans. Systems Man Cybernet. 14(3) (1984), 437-443.
7. Vukobratovic, M., Borovac, B., Surla, D., and Stokic, D.: Scientific Fundamentals of Robotics 7-Biped Locomotion (Dynamics, Stability, Control and Application), Springer, Berlin, 1990.
8. Slotine, J. J. and Li, W.: Applied Nonlinear Control, Prentice-Hall, 1992.
9. Tzafestas, S. G., Krikochoritis, T. E., and Tzafestas, C. S.: A robust-adaptive locomotion controller for 9-link bipeds with rapidly varying unknown parameters, in: 5th IEEE Mediterranean Conf. on Control and Systems, Cyprus, July 1997.