Robust Control of Underactuated Bipeds Using Sliding Modes
The purpose of this paper is to present a robust tracking control algorithm for underactuated biped robots capable of self-balancing in the presence of external disturbances. The biped is modeled as a five-link planar robot with four actuators located at hip and knee joints. A sliding mode control l...
|Journal Title:||Robotica Vol. 25; no. 3; pp. 367 - 274|
|Authors:||Hashem Ashrafiuon, F. Fahimi, Mehdi Nikkhah|