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Robust tracking of bio-inspired references for a biped robot using geometric algebra and sliding mode control

Published online by Cambridge University Press:  27 February 2014

J. Oviedo-Barriga ,
L. González-Jiménez ,
B. Castillo-Toledo  and
E. Bayro-Corrochano
J. Oviedo-Barriga
Affiliation:
CINVESTAV, Campus Guadalajara, Av. Del Bosque 1145, Col. El Bajío, C.P. 45019, Zapopan, Jalisco, México
L. González-Jiménez
Affiliation:
CINVESTAV, Campus Guadalajara, Av. Del Bosque 1145, Col. El Bajío, C.P. 45019, Zapopan, Jalisco, México
B. Castillo-Toledo
Affiliation:
CINVESTAV, Campus Guadalajara, Av. Del Bosque 1145, Col. El Bajío, C.P. 45019, Zapopan, Jalisco, México
E. Bayro-Corrochano*
Affiliation:
CINVESTAV, Campus Guadalajara, Av. Del Bosque 1145, Col. El Bajío, C.P. 45019, Zapopan, Jalisco, México
*
*Corresponding author. E-mail: [email protected]
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Summary

Controlling a walking biped robot is a challenging problem due to the robot's complex and uncertain dynamics. In order to tackle this problem, we propose a sliding mode controller based on a dynamic model that we obtained using the conformal geometric algebra (CGA) approach. An important contribution of this paper is the development of algorithms using the CGA framework. The CGA framework permits us to use lines, points, and other geometric entities to obtain the Lagrange equations of the system. The references for the joints of the robot were obtained in a bio-inspired way following the kinematics of a walking human body. The first and second derivatives of the reference signal were obtained via an exact robust differentiator based on a high-order sliding mode. We analyzed the performance of the proposed control schemes by using bio-inspired walking patterns and simulations.

Keywords

Bio-inspired signalTrackingConformal geometric algebra
Type
Articles
Information
Robotica , Volume 33 , Issue 1 , January 2015 , pp. 209 - 224
Copyright
Copyright © Cambridge University Press 2014 

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