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    This study introduces a novel control law for biped robots, inspired by human motor behavior, to achieve stable stair climbing. The intermittent sliding mode controller ensures reliable ascending movement, even with system uncertainties.

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    Area of Science:

    • Robotics
    • Control Systems Engineering
    • Biomechanics

    Background:

    • Stair climbing is a crucial daily activity for biped robots.
    • Research on biped robot ascending mechanisms and stability is limited.
    • Human motor behavior offers insights into stable locomotion.

    Purpose of the Study:

    • To develop a new control law for stable biped robot stair climbing.
    • To mimic human ascending movement mechanisms using a novel control strategy.
    • To enhance the stability and reliability of biped robot locomotion.

    Main Methods:

    • Developed a control law based on human motor behavior.
    • Utilized phase space and an intermittent sliding mode controller.
    • Tested the model on a planar five-link biped robot.
    • Implemented controllers for individual joints, comparing angles in embedded space to desired dynamics.

    Main Results:

    • The intermittent sliding mode controller effectively stabilized biped robot stair climbing.
    • The control law successfully minimized errors between actual and desired joint trajectories.
    • The biped robot model demonstrated stable ascending movement, closely following desired dynamics.

    Conclusions:

    • The proposed control law, inspired by human movement, significantly improves biped robot stair-climbing stability.
    • Intermittent sliding mode control is effective in managing system uncertainties for robotic locomotion.
    • This research contributes to advancing biped robot capabilities in complex environmental interactions.