Comparative simulation study of three control techniques applied to a biped robot

Abstract

This paper provides a comparative study, through simulation, of the effectiveness of the local (decoupled) PD control, the computed torque control, and the sliding mode robust control applied to a 5-link biped robot model. The superiority of the sliding mode control in case of existence of large parametric uncertainty is verified. It is argued that sliding mode control appropriately smoothed can be used successfully in actual (experimental or not) bipeds to increase their performance capabilities.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>