Journal of Intelligent and Robotic Systems

, Volume 15, Issue 1, pp 67–133 | Cite as

Robust sliding-mode control applied to a 5-link biped robot

  • Spyros Tzafestas
  • Mark Raibert
  • Costas Tzafestas


In this paper the application of robust control to a 5-link biped robotic model is investigated through the sliding mode approach, and compared to pure computed torque control. The biped consists of five links, namely the torso and two links in each leg. These links are connected via four (two hip and two knee) rotating joints which are considered to be friction-free and driven by independent d.c. motors. The locomotion of the biped is assumed to be constrained on the sagittal plane. The paper provides a full derivation of the biped dynamic model (single-leg support phase, biped-in-the-air phase) and an outline of the computed torque and sliding mode control algorithms. The simulation results were derived with two sets of parameters (one of which corresponds to a human-sized biped) and several degrees of parametric uncertainty (from 10% to 200%). In all cases the results obtained through the sliding mode control were much better than those obtained with the computed torque control. This superiority was shown to become stronger as the degree of uncertainty and the size of the biped increases.

Key words

Biped robots robust control sliding mode control single leg-support phase computer torque control 


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Copyright information

© Kluwer Academic Publishers 1996

Authors and Affiliations

  • Spyros Tzafestas
    • 1
  • Mark Raibert
    • 2
  • Costas Tzafestas
    • 1
  1. 1.Intelligent Robotics and Control UnitNational Technical University of AthensAthensGreece
  2. 2.Artificial Intelligence LaboratoryMITCambridgeU.S.A.

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