Dynamic equations and the control law for a class of robots with elastic underactuated MIMO system of legs, athlete Robot, are\ndiscussed in this paper. The dynamic equations are determined by Euler-Lagrange method. A new method based on hierarchical\nsliding mode for controlling postures is also introduced. Genetic algorithm is applied to design the oscillator for robot motion.\nThen, a hierarchical slidingmode controller is implemented to control basic posture of athlete robot stepping. Successful simulation\nresults show the motion of athlete robot
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