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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Bibliographic Details
Main Authors: Nikkhah, Mehdi., Ashrafiuon, Hashem., Fahimi, Farbod.
Format: Villanova Faculty Authorship
Published: 2007
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