Sliding mode control of the simplest walking model

This paper presents an application of a robust control method, the sliding mode control, to an irreducibly simple model of passive dynamic walking known as the simplest walking model. Although, the simplest walking model is well studied with indirect actuation methods, such as gravity power or toe off impulse, its capability to begin to walk from different initial conditions, walking under disturbance and on uneven terrain is limited. When the model has direct actuation such that it has a stance and a swing torque, we showed that using sliding mode control, the model was able to start walking from different initial conditions; it was able to handle disturbances and walk on uneven terrain.