Hierarchical Sliding Mode Algorithm for Athlete Robot Walking
Joint Authors
Nguyen, Van Dong Hai
Huynh, Xuan-Dung
Nguyen, Minh-Tam
Vladu, Ionel Cristian
Ivanescu, Mircea
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-12-06
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract 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.
American Psychological Association (APA)
Nguyen, Van Dong Hai& Huynh, Xuan-Dung& Nguyen, Minh-Tam& Vladu, Ionel Cristian& Ivanescu, Mircea. 2017. Hierarchical Sliding Mode Algorithm for Athlete Robot Walking. Journal of Robotics،Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1186396
Modern Language Association (MLA)
Nguyen, Van Dong Hai…[et al.]. Hierarchical Sliding Mode Algorithm for Athlete Robot Walking. Journal of Robotics No. 2017 (2017), pp.1-13.
https://search.emarefa.net/detail/BIM-1186396
American Medical Association (AMA)
Nguyen, Van Dong Hai& Huynh, Xuan-Dung& Nguyen, Minh-Tam& Vladu, Ionel Cristian& Ivanescu, Mircea. Hierarchical Sliding Mode Algorithm for Athlete Robot Walking. Journal of Robotics. 2017. Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1186396
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1186396
