Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

Autor: Van Dong Hai Nguyen, Xuan-Dung Huynh, Minh-Tam Nguyen, Ionel Cristian Vladu, Mircea Ivanescu
Jazyk: angličtina
Rok vydání: 2017
Předmět:
Zdroj: Journal of Robotics, Vol 2017 (2017)
Druh dokumentu: article
ISSN: 1687-9600
1687-9619
DOI: 10.1155/2017/6348980
Popis: 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.
Databáze: Directory of Open Access Journals
Externí odkaz: