Title :
Comparative simulation study of three control techniques applied to a biped robot
Author :
Raibert, Mark ; Tzafestas, Spyros ; Tzafestas, Costas
Author_Institution :
Artificial Intelligence Lab., MIT, Cambridge, MA, USA
Abstract :
This paper provides a comparative study, through simulation, of the effectiveness of the local (decoupled) PD control, the computed torque control, and the sliding mode robust control applied to a 5-link biped robot model. The superiority of the sliding mode control in case of existence of large parametric uncertainty is verified. It is argued that sliding mode control appropriately smoothed can be used successfully in actual (experimental or not) bipeds to increase their performance capabilities
Keywords :
legged locomotion; robust control; torque control; two-term control; variable structure systems; 5-link biped robot model; biped robot; comparative simulation study; computed torque control; large parametric uncertainty; local PD control; sliding mode robust control; Knee; Legged locomotion; PD control; Robot control; Robot kinematics; Robust control; Sliding mode control; Three-term control; Torque control; Uncertainty;
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
DOI :
10.1109/ICSMC.1993.384792
