A Sliding Mode Controler of Hips Actuated for Passive Walking Robots

Subject Areas : Journal of Computer & Robotics

Sina Bakhtiari ¹ , Mahdi Razzaghi ² , Ahmad Samiee ³

1 - Mechanical Engineering Department, Islamic Azad University Tehran North Branch, Tehran, Iran
2 - Management Engineering Department, Azad University Science and Research Branch, Tehran, Iran
3 - Mechanical Engineering Department, Azad University Science and Research Branch, Tehran, Iran

Received: 2019-06-07 Accepted : 2019-11-04 Published : 2019-06-01

Keywords:

References:

[1] Razzaghi, P.; Assadian, N., "Study of the triple-mass tethered satellite system under aerodynamic drag and j2 perturbations", Advances in Space Research, vol. 56, no. 10, pp. 2141–2150 (2015). 
[2] Razzaghi, P.; Al Khatib, E.; Bakhtiari, S., "Sliding mode and SDRE control laws on a tethered satellite system to de-orbit space debris", Advances in Space Research, vol. 64, no. 1, pp. 18–27 (2019). 
[3] Khiabani, A. G.; Babazadeh, R., "Design of robust fractional-order lead–lag  controller  for  uncertain  systems",  IET  Control  Theory  & Applications, vol. 10, no. 18, pp. 2447–2455 (2016). 
[4] Navabi, M.; Mirzaei, H., "Robust optimal adaptive trajectory tracking control of quadrotor helicopter", Latin American Journal of Solids and Structures, vol. 14, no. 6, pp. 1040–1063 (2017). 
[5] Navabi,  M.;  Mirzaei,  H.,  "θd  based  nonlinear  tracking  control  of quadcopter", in 2016 4th International Conference on Robotics and Mechatronics (ICROM). IEEE, pp. 331–336 (2016). 
[6] Al Khatib, E. I.; Al-Masri, W. M.; Mukhopadhyay, S.; Jaradat, M. A.; Abdel-Hafez,  M.,  "A  comparison  of  adaptive  trajectory  tracking controllers  for  wheeled  mobile  robots",  in  Mechatronics  and  its Applications (ISMA), 2015 10th International Symposium on. IEEE, pp. 1–6 (2015). 
[7] Al  Khatib,  E.  I.;  Jaradat,  M.  A.;  Abdel-Hafez,  M.;  Roigari,  M., "Multiple sensor fusion for mobile robot localization and navigation using  the  extended  kalman  filter",  in  Mechatronics  and  its Applications (ISMA), 2015 10th International Symposium on. IEEE, pp. 1–5 (2015). 
[8] Nateghi, S.; Shtessel, Y.; Barbot, J.-P.; Zheng, G.; Yu, L., "Cyber-attack  reconstruction  via  sliding  mode  differentiation  and  sparse recovery algorithm: Electrical power networks application", in 2018 15th  International  Workshop  on  Variable  Structure  Systems  (VSS). IEEE, pp. 285–290 (2018). 
[9] Nateghi, S.; Shtessel, Y.; Barbot, J.-P.; Edwards, C., "Cyber attack reconstruction  of  nonlinear  systems  via  higher-order  sliding-mode observer and sparse recovery algorithm", in 2018 IEEE Conference on Decision and Control (CDC). IEEE, 2018, pp. 5963–5968 (2018). 
[10] McGeer,  T.,  "Passive  dynamic  walking",  International  Journal  of Robotic Research., vol. 9, no. 2, pp. 62–82 (1990). 
[11] McGeer,  T.,  "Passive  walking  with  knees",  in  Proceedings.,  IEEE International  Conference  on  Robotics  and  Automation,  May  1990, vol. 3, pp. 1640–1645 (1990). 
[12] Camp,  J.,  "Powered  “passive”  dynamic  walking",  Masters  of Engineering Project Report, Cornell University (1997). 
[13] Coleman, M. J.; Ruina, A., "An uncontrolled walking toy that cannot stand still", Physical Review Letters, vol. 80, no. 16, pp. 3658-3661 (1998). 
[14] Garcia, M.; Chatterjee, A.; Ruina, A.; Coleman, M., "The simplest walking  model:  stability,  complexity,  and  scaling",  Journal  of biomechanical engineering, vol. 120, no. 2, pp. 281–288 (1998). 
[15] Van Der Linde, R. Q., "Active leg compliance for passive walking", in Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No. 98CH36146), vol. 3, pp. 2339–2344 (1998). 
[16] Van Der Linde, R. Q., "Passive bipedal walking with phasic muscle contraction",  Biological  cybernetics,  vol.  81,  no.  3,  pp.  227–237 (1999). 
[17] Spong, M. W., "Passivity based control of the compass gait biped", in Proc. of IFAC World Congress, pp. 19–23 (1999). 
[18] Goswami,  A.;  Espiau,  B.;  Keramane,  A.,  "Limit  cycles  and  their stability  in  a  passive  bipedal  gait",  in  Proceedings  of  IEEE International Conference on Robotics and Automation, vol. 1. IEEE, 1996, pp. 246–251 (1996). 

[19]  Kuo,  A.  D.,  "Stabilization  of  lateral  motion  in  passive  dynamic walking", The International journal of robotics research, vol. 18, no. 9, pp. 917–930 (1999). 
[20]  Wisse, M.; Schwab, A. L., "A 3d passive dynamic biped with yaw and roll compensation", Robotica, vol. 19, no. 3, pp. 275–284 (2001). 
[21]  Collins, S. H.; Wisse, M.; Ruina, A., "A three-dimensional passive-dynamic walking robot with two legs and knees", The International Journal of Robotics Research, vol. 20, no. 7, pp. 607–615 (2001). 
[22]  Nikkhah,  M.;  Ashrafiuon,  H.;  Fahimi,  F.,  "Robust  control  of underactuated bipeds using sliding modes", Robotica, vol. 25, no. 3, pp. 367-374 (2007). 
[23]  Rahmani, M.; Ghanbari, A.; Ettefagh, M., "A novel adaptive neural network  integral  sliding-mode  control  of  a  biped  robot  using  bat algorithm",  Journal of  Vibration and Control, vol.  24, no. 10,  pp. 2045-2060 (2019). 
[24]  Taherkhorsandi, M.; Mahmoodabadi, M. J.; Talebipour, M.; Castillo-Villar, K. K., "Pareto design of an adaptive robust hybrid of PID and sliding control for a biped robot via genetic algorithm optimization", Nonlinear dynamics, vol. 79, no. 1, pp. 251-263 (2015). 
[25]   Slotine, J.-J. E.; Li, W., "Applied nonlinear control", Prentice hall Englewood Cliffs, NJ, vol. 199, no. 1 (1991).