Sliding mode control of the simplest walking model

Osman Darici, Hakan Temeltas

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

This paper presents an application of a robust control method, the sliding mode control, to an irreducibly simple model of passive dynamic walking known as the simplest walking model. Although, the simplest walking model is well studied with indirect actuation methods, such as gravity power or toe off impulse, its capability to begin to walk from different initial conditions, walking under disturbance and on uneven terrain is limited. When the model has direct actuation such that it has a stance and a swing torque, we showed that using sliding mode control, the model was able to start walking from different initial conditions; it was able to handle disturbances and walk on uneven terrain.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2553-2558
Number of pages6
ISBN (Electronic)9781479970964
DOIs
Publication statusPublished - 2 Sept 2015
Event12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 - Beijing, China
Duration: 2 Aug 20155 Aug 2015

Publication series

Name2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015

Conference

Conference12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
Country/TerritoryChina
CityBeijing
Period2/08/155/08/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

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