Dynamic modeling and sliding mode control for fast walking of seven-link biped robot

Abstract

This paper presents a dynamic modeling and control for fast walking of seven link biped robots in the sagittal plane. First, the dynamic equations of motion are derived with a convenient method that simplifies the deriving procedure significantly. The impact of biped's foot with the ground is considered and the corresponding effects are taken into accounts. By a systematic approach, the trajectories of hip and two ankle joints are formulated first and then the joint angle profiles are expressed according to the biped geometry. Finally, the sliding mode controller is developed to control bipedal walking. The computer simulation results attest good walking process for seven link biped robot.