Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

الملخص EN

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.