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...

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Journal Title: Robotica Vol. 25; no. 3; pp. 367 - 274
Authors: Hashem Ashrafiuon, F. Fahimi, Mehdi Nikkhah
Format: Article
Published: 2007
May 2006
Online Access: Full Text