Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase

DOI10.1080/00207170410001705005zbMath1061.93522OpenAlexW2112894283MaRDI QIDQ4651181

Qiong Wu, Xiuping Mu

Publication date: 21 February 2005

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207170410001705005

zbMATH Keywords

regulationsliding mode controldynamic modelplanar five-link biped

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

Related Items (5)

Modeling and finite-time walking control of a biped robot with feet ⋮ Practical finite-time adaptive sliding mode control for 5-link biped robot in the presence of uncertainty ⋮ Stability analysis via the concept of Lyapunov exponents: a case study in optimal controlled biped standing ⋮ Adjustable stiffness artificial tendons: conceptual design and energetics study in bipedal walking robots ⋮ On stability analysis via Lyapunov exponents calculated based on radial basis function networks

Cites Work

• Lyapunov stability control of inverted pendulums with general base point motion
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• Control of a Dynamical Biped Locomotion System for Steady Walking
• A Theoretically Motivated Reduced Order Model for the Control of Dynamic Biped Locomotion
• Sliding Control Without Reaching Phase and Its Application to Bipedal Locomotion
• The Dynamics and Control of a Biped Walking Robot With Seven Degrees of Freedom

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