One approach in the field of legged locomotion is to use theoretical models and analysis to provide basic knowledge [1]. One particular group of these models with rotary hip torque and radial leg damping has demonstrated a greater degree of robust stability and biological relevance. The previously developed Clock Torqued Spring-Loaded Inverted Pendulum [3] and Torque-Actuated Dissipative Spring...

This article proposes a procedure for upgrading linear proportional controller to sliding mode one preventing degradation of control quality. Two nonlinear algorithms are studied in this context: Unit and Homogeneous Sliding Mode Controllers (SMCs). The parameters the controllers defined using gains (already well-tuned) controller. main idea is split state-space into two regions, region control...

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