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Journal of Robotics
Volume 2017, Article ID 6348980, 13 pages
Research Article

Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

1Ho Chi Minh City University of Technology and Education (HCMUTE), 01 Vo Van Ngan Street, Thu Duc District, Ho Chi Minh City, Vietnam
2University of Craiova (UCV), 13 Alexandru Ioan Cuza Street, 200585 Craiova, Romania

Correspondence should be addressed to Van Dong Hai Nguyen; nv.ude.etumch@dvniah

Received 4 July 2017; Revised 26 October 2017; Accepted 12 November 2017; Published 6 December 2017

Academic Editor: Yangmin Li

Copyright © 2017 Van Dong Hai Nguyen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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