Bio-inspired Model of Humanoid Robot for Ascending Movement

摘要

Stair climbing is one of the important daily life activities that biped robots have to carry out. However, the number of researches study the ascending movement mechanisms and its stability is low. In this study, we have inspired by human ascending movement underlying mechanisms and developed a new control law based on the nature of the human motor behavior. This model has been developed in phase space using an intermittent sliding mode controller to give stable control and eliminate the effect of the system's uncertainty. A planar five-link biped model has been used to test the model. The embedded space and controller has been formed for each joint separately. Therefore, in this case, the position of each angle in embedded space gets compared along time with its corresponding desired dynamic. The position of each angle in space regarding its corresponding reference trajectory made the error signal. Results show that the designed sliding mode controllers successfully keeps the trajectory near the desired dynamics, and the output follows the desired dynamic very well.