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Although the application of Series elastic actuators (SEAs) in thebiomechatronic field has proved its appropriation in many aspects so far, theproblems of maintaining the stability for the SEAs still remains. This paperproposes a robust controller so that to overcome the drawbacks of the previousresearches. Firstly, a mathematical model considering both the SEAs and the hipjoint of humanoid UXA-90 is obtained. Secondly, a reference input of theproposed controller that is achieved from desired hip joint's angle in awalking cycle is utilized. Then, a backstepping based sliding mode forcecontrol approach is employed to ensure the precise movement of robot's link aswell as meeting the requirement of robustness for the whole system, which issignificant for the task of walking of a humanoid. Finally, some simulationsare carried out to verify the quality and effectiveness of the proposedcontroller.

Design of robust controller applied for series elastic actuators in controlling humanoid's joint