Abstract This manuscript deals with the problem of controlling a virtualized humanoid robot with 16 degrees of freedom (DOF). The aim of this study was to design an output feedback discontinuous controller which must resolve the sequence of articulation movements to walk over disjoint stepping objects placed in front of the humanoid robot. The suggested controller considers the state restrictions, via a nonstandard strong Lyapunov function, corresponding to the angular displacements and velocities at each articulation. This study implements an extended state terminal second order sliding mode controller with time dependent gains, to ensure the finite-time tracking trajectory of each articulation of the humanoid robot. The terminal sliding mode (TSM) is implemented in a virtual platform developed in a computer-aided design software. For comparison purposes, the controller was compared with a state feedback and a first order sliding mode algorithms.

中文翻译：

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具有关节限制的虚拟仿人机器人在踏步物体上行走的终端滑模控制

摘要 本手稿涉及控制具有 16 个自由度 (DOF) 的虚拟人形机器人的问题。本研究的目的是设计一个输出反馈不连续控制器，它必须解决关节运动的顺序，以走过放置在仿人机器人前面的不相交的步进物体。建议的控制器通过与每个关节处的角位移和速度相对应的非标准强李雅普诺夫函数来考虑状态限制。本研究实现了具有时间相关增益的扩展状态终端二阶滑模控制器，以确保仿人机器人每个关节的有限时间跟踪轨迹。终端滑动模式（TSM）是在计算机辅助设计软件开发的虚拟平台中实现的。