Robust Control of a Walking Robot System and Controller Design

Abstract

In this paper, the method of multi-body dynamics is employed to construct the equations of motion for the complicated biped robot system and designed a robust controller for stable dynamic biped robot system. Using this approach, the planned control law can be adjusted continuously in response to the current movement of the feet of the robot, and this adjustment can be accomplished in a very smooth way. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and can provide a powerful safeguard for the robot system. Simulation results are presented to show the system's efficiency and stability in adapting to an uncertain terrain.