A control system for the walking of a redundant biped robot in the swing phase is considered. The biped is a humanoid with 6DOF per leg and 3DOF per arm. The controller will be based on a full kinematic model of the robot to depict a more accurate behavior of the robot. The arms of the robot are used to compensate for disturbances the robot may experience during walking. Instead of controlling the robots ZMP, keeping it within the support polygon, all six foot support reaction components are controlled. First, a “shoe” with force sensors detect the forces and moments on the foot for feedback. The feedback from the joint servos provide position and velocity information. The support reaction and the joint position/velocities are fedback to a sliding mode controller, which makes adjustments to the arm links’ acceleration to compensate the shift in the reaction components. Simulations show the comparison of the ZMP shift when disturbances are applied with and without controlling the reaction forces to prove the effectiveness of the approach.

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