TY - GEN
T1 - Terminal sliding mode control of a virtual humanoid robot
AU - Sanchez-Magos, M.
AU - Ballesteros-Escamilla, M.
AU - Cruz-Ortiz, D.
AU - Salgado, I.
AU - Chairez, I.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/4
Y1 - 2019/4
N2 - This manuscript deals with the problem of controlling a virtualized humanoid robot with 16 degrees of freedom (DOF), each corresponding to the articulation in a real human being. That is, three DOF for each leg in the sagittal plane and one for the abduction movement; three DOF for each arm in the sagittal plane and one for the waist. The tracking trajectory problem of any humanoid robot like the classical biped robots requires a control algorithm with robustness against parametric uncertainties, fast response and even with finite-time convergence. These main characteristics are easily covered by sliding mode controllers. This manuscript implements a terminal second order sliding mode (TSOSM) controller to ensure the finite-time tracking trajectory of each articulation of the humanoid robot to the ones that define a classical walking pattern obtained by bio-mechanical studies. The TSOSM is implemented in a virtual platform developed in a computer-aided design software.
AB - This manuscript deals with the problem of controlling a virtualized humanoid robot with 16 degrees of freedom (DOF), each corresponding to the articulation in a real human being. That is, three DOF for each leg in the sagittal plane and one for the abduction movement; three DOF for each arm in the sagittal plane and one for the waist. The tracking trajectory problem of any humanoid robot like the classical biped robots requires a control algorithm with robustness against parametric uncertainties, fast response and even with finite-time convergence. These main characteristics are easily covered by sliding mode controllers. This manuscript implements a terminal second order sliding mode (TSOSM) controller to ensure the finite-time tracking trajectory of each articulation of the humanoid robot to the ones that define a classical walking pattern obtained by bio-mechanical studies. The TSOSM is implemented in a virtual platform developed in a computer-aided design software.
KW - Humanoid robot
KW - Output based controller
KW - Terminal sliding mode control
KW - Virtualized control
UR - http://www.scopus.com/inward/record.url?scp=85072822359&partnerID=8YFLogxK
U2 - 10.1109/CoDIT.2019.8820326
DO - 10.1109/CoDIT.2019.8820326
M3 - Contribución a la conferencia
AN - SCOPUS:85072822359
T3 - 2019 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019
SP - 726
EP - 731
BT - 2019 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019
Y2 - 23 April 2019 through 26 April 2019
ER -