Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

Figure 19

Motion description of AR. (a) From 0 s to 0.2 s. (b) From 0.2 s to 0.4 s. (c) From 0.4 s to 0.6 s. (d) From 0.6 s to 0.8 s. (e) From 0.8 s to 1 s. (f) From 1 s to 1.12 s.

(a)

(b)

(c)

(d)

(e)

(f)