Motion control of biped robots in single support phase based on neural network sliding mode approach

Nguyễn Văn Khang, Trịnh Quốc Trung

Abstract


In this paper, an application of 5-link biped robotic control model is presented through the neural network sliding mode approach. The proposed controller showes efficiency and stability in comparision with the PD controller of biped robots with uncertainties and large noise effects.

Keywords


Biped robot, inverse dynamics, control, neural networks



DOI: https://doi.org/10.15625/1813-9663/30/1/3051

Journal of Computer Science and Cybernetics ISSN: 1813-9663

Published by Vietnam Academy of Science and Technology