Robust control of planar biped robots in single support phase using intelligent adaptive backstepping technique

Sung Jin Yoo, Jin Bae Park, Yoon Ho Choi

Research output: Contribution to journalArticle

11 Citations (Scopus)


This paper presents a robust control method via the intelligent adaptive backstepping design technique for stable walking of nine-link biped robots with unknown model uncertainties and external disturbances. In our control structure, the self recurrent wavelet neural network (SRWNN) which has the information storage ability is used to observe the uncertainties of the biped robots. The adaptation laws for all weights of the SRWNN are induced from the Lyapunov stability theorem, which are used for on-line controlling biped robots. Also, we prove that all signals in the closed-loop adaptive system are uniformly ultimately bounded. Through computer simulations of a nine-link biped robot with model uncertainties and external disturbances, we illustrate the effectiveness of the proposed control system.

Original languageEnglish
Pages (from-to)269-282
Number of pages14
JournalInternational Journal of Control, Automation and Systems
Issue number3
Publication statusPublished - 2007 Jun 1


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications

Cite this