Advanced intelligent walking robot control through sliding motion control and bond graphs methods

Abstract

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 increase performance of the robot trajectory tracking control a fuzzy gain adjustment inside the dynamic control method have been used and the new results include the systems' influence on the sliding parameter. The research results lead to improve of the walking robot movement control on unstructured and bumped surfaces.