Second order sliding mode observer for stable control of a walking biped robot

Authors:	Plestan Franck, IRCCyN-Ecole Centrale de Nantes, France Lebastard Vincent, IRCCyN-Ecole Centrale de Nantes, France Aoustin Yannick, IRCCyN-Université de Nantes, France
Topic:	4.3 Robotics
Session:	Mobile Robots II
Keywords:	Second order sliding mode observer, Poincaré's sections, biped robot

Abstract

An observer-based controller is proposed for the walking of a biped robot without feet, i.e. an underactuated system in single support phase. The originality is both: first, the observer is based on second-order sliding mode approach and is original in biped robot context. Secondly, an existing ``simplified'' Poincaré's sections-based analysis of the stability of the walking is adapted to nonlinear system with not fully available state variables.