Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

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.

[1]  Zhihong Man,et al.  Hierarchical sliding mode control applied to a single-link flexible joint robot manipulator , 2016, 2016 International Conference on Advanced Mechatronic Systems (ICAMechS).

[2]  Aaas News,et al.  Book Reviews , 1893, Buffalo Medical and Surgical Journal.

[3]  Jianqiang Yi,et al.  Hierarchical sliding mode control for a class of SIMO under-actuated systems , 2008 .

[4]  S. Nakaura,et al.  Balance control analysis of humanoid robot based on ZMP feedback control , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  Jianqiang Yi,et al.  Hierarchical Sliding Mode Control for Under-actuated Cranes , 2015 .

[6]  Aiguo Ming,et al.  Development of robot leg composed of parallel linkage and elastic spring for dynamic locomotion , 2015, 2015 IEEE International Conference on Information and Automation.

[7]  Gwi-Tae Park,et al.  ZMP based neural network inspired humanoid robot control , 2012 .

[8]  Kevin Barraclough,et al.  I and i , 2001, BMJ : British Medical Journal.

[9]  Kazuhito Yokoi,et al.  Planning walking patterns for a biped robot , 2001, IEEE Trans. Robotics Autom..

[10]  Yuan F. Zheng,et al.  Dynamic walking in a humanoid robot based on a 3D Actuated Dual-SLIP model , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[11]  A. Chaari,et al.  Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study , 2016 .

[13]  Alin Albu-Schäffer,et al.  Walking control of fully actuated robots based on the Bipedal SLIP model , 2012, 2012 IEEE International Conference on Robotics and Automation.

[14]  Yasuo Kuniyoshi,et al.  Biomechanical Approach to Open-Loop Bipedal Running with a Musculoskeletal Athlete Robot , 2012, Adv. Robotics.

[15]  T. Zielinska.  Gait Rhythm Generators of a Two Legged Walking Machine , 1997 .

[16]  Fumiya Iida,et al.  Toward a human-like biped robot with compliant legs , 2009, Robotics Auton. Syst..

[17]  Dominic Lakatos,et al.  Dynamic bipedal walking by controlling only the equilibrium of intrinsic elasticities , 2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).

[18]  Jun Morimoto,et al.  An empirical exploration of a neural oscillator for biped locomotion control , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[19]  Andre Seyfarth,et al.  ELASTIC LEG FUNCTION IN A BIPEDAL WALKING ROBOT , 2007 .

[20]  Robert Babuska,et al.  Unified Modeling and Control of Walking and Running on the Spring-Loaded Inverted Pendulum , 2016, IEEE Transactions on Robotics.

[21]  A. Kumar,et al.  Adaptive hierarchical control for a class of MIMO uncertain underactuated systems , 2014, 2014 IEEE International Conference on Computational Intelligence and Computing Research.

[22]  Manfred Hild,et al.  Evolution of Biped Walking Using Neural Oscillators and Physical Simulation , 2008, RoboCup.

[23]  Byoung-Ho Kim.  Work Analysis of Compliant Leg Mechanisms for Bipedal Walking Robots , 2013 .

[24]  A. Chaari,et al.  Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study , 2016 .

[25]  Rico Möckel,et al.  A new biarticular actuator design facilitates control of leg function in BioBiped3 , 2016, Bioinspiration & biomimetics.

[26]  Alberto Castigliano,et al.  Elastic stresses in structures , 1919 .