IEEE - Institute of Electrical and Electronics Engineers, Inc. - Advanced intelligent walking robot control through sliding motion control and bond graphs methods

2015 International Conference on Advanced Mechatronic Systems (ICAMechS)

Author(s): Ionel-Alexandru Gal ; Luige Vladareanu ; Hongnian Yu ; Hongbo Wang ; Mingcong Deng
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 August 2015
Conference Location: Beijing, China
Conference Date: 22 August 2015
Page(s): 36 - 41
ISBN (Electronic): 978-1-4673-7996-0
ISBN (USB): 978-1-4673-7995-3
ISSN (Electronic): 2325-0690
DOI: 10.1109/ICAMechS.2015.7287125
Regular:

In this paper, we tested a dynamic control law on a 2DOF robot walking leg. To achieve this, we modeled the system using bond graphs, and the Sliding Control Method for real time control. To... View More

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