Sliding mode control of locomotion for a biomimetic robot inspired by pillbugs

Jongwon Park, Kyung-soo Kim, Soo-hyun Kim, International Conference Control Automation and Systems (ICCAS), Gyeonggi-do, October 2010, pp. 2392-2396.

Abstract

Reconnaissance robots can reduce the danger of hazardous places by providing information before human personnel take action. In practice, the robot platform should be small and light. However, this fact leads to a scaling issue with terrain that poses a huge obstacle for the vehicle. The problem can be solved by the inspiration of nature. This paper presents a sliding mode control (SMC) of locomotion for a pill bug inspired robot, Pillbot. The performance of sliding mode control will be compared to that of PID through RecurDyn-Simulink cosimulation.

How Multibody Dynamics Simulation Technology is Used

A new control method was compared to a PID controller for a pill bug inspired robot. Both control methods could be tested using a co-simulation between RecurDyn and Simulink. These methods could be quickly compared within RecurDyn by comparing measured angular positions over time. The new control method was shown to be more efficient than the PID controlled locomotion.

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