—This paper surveys how some " intelligence " can be incorporated in sliding-mode controllers (SMCs) by the use of computational intelligence methodologies in order to alleviate the well-known problems met in practical implementations of SMCs. The use of variable-structure system theory in design and stability analysis of fuzzy controllers is also discussed… (More)
—The control of a biped humanoid is a challenging task due to the hard-to-stabilize dynamics. Walking reference trajectory generation is a key problem. Linear Inverted Pendulum Model (LIPM) and Zero Moment Point (ZMP) Criterion-based approaches in stable walking reference generation are reported. In these methods, generally, the ZMP reference during a… (More)
—The robustness property of sliding-mode controllers (SMC's) makes them attractive for industrial control applications. However, this property is valid only under ideal sliding-mode conditions. Additionally, practical SMC's are likely to exhibit high-frequency oscillations in the plant output, called chattering , and to excite unmodeled dynamics. A novel,… (More)
— Humanoid robotics attracted the attention of many researchers in the past 35 years. The motivation of research is the suitability of the biped structure for tasks in the human environment. The control of a biped humanoid is a challenging task due to the hard-to-stabilize dynamics. Walking reference trajectory generation is a key problem. A criterion used… (More)
SURALP is a new walking humanoid robot platform designed at Sabanci University - Turkey. The kinematic arrangement of the robot consists of 29 independently driven axes, including legs, arms, waist and a neck. This paper presents the highlights of the design of this robot and experimental walking results. Mechanical design, actuation mechanisms, sensors,… (More)
Bipedal locomotion has good obstacle avoidance properties. A robot with human appearance has advantages in human-robot communication. However, walking control is difficult due to the complex robot dynamics involved.
Chattering in the control signal is a significant problem in sliding mode control applications. The boundary layer approach is one of the many modifications proposed in the literature to avoid the chattering. In this approach, instead of the discontinuous sliding mode control, a high gain feedback control law is employed. The thickness of the boundary layer… (More)