Nonlinear dynamic contouring control for biped robot walking

Biped robot research has been developing several decade of year in the world. We usually saw experimental biped robot in order to reduce single leg support time and let biped robot easy to control, so many researcher choose linearism plant of biped robot. But this approach couldn’t make our biped robot smooth walking naturally like as real human. We will obtain each angle of joints from real human walking by our mechanism. Then we calculate real human walking trajectory form each angle of joints and relative position of each joint. In order to have a good tracking trajectory performance, we will track trajectory by contouring control. This paper is concerned with the contouring control for multiaxis motion system. Because the problem of contouring control for multiaxis becomes the stabilization of the equivalent errors. So, we integrate sliding mode control with contouring control. In order to implement our approach for biped robot walking, we employ Matlab design contouring controller.