Walking task space control using time delay estimation based sliding mode of position Controlled NAO biped robot

Abstract

This work proposes a simple technique to implement in real-time a nonlinear robust controller on a humanoid NAO robot that does not have direct drive joints. The key trick consists of designing a time delay estimation based sliding mode controller without any prior knowledge of the robot’s dynamics to alleviate the heavy computations since the on-board processor has low computational power and to deal with the effect of the uncertainties. Then, the calculated torque inputs will be converted to position controller for the servo actuated NAO robot using an appropriate transformer. The proposed method will ensure in addition to high precision tracking a fast convergence during the reaching phase. The proposed control architecture is validated through experimental results on a real NAO robot.