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...
| Main Authors: | , , |
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| Format: | |
| Language: | English |
| Published: |
2007
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| Online Access: | http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173912 |