{'fraction_non_alphanumeric': 0.02857142857142857, 'fraction_numerical': 0.0, 'mean_word_length': 4.9772727272727275, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
SECOND ORDER SLIDING MODE OBSERVER FOR STABLE CONTROL OF A WALKING BIPED

Abstract An observer-based controller is proposed for the walking of a biped without feet, i.e. an underactuated system in single support phase. The originality is both: first, the observer is based on second-order sliding mode approach and is original in biped robot context. Secondly, an existing “simplified” Poincare's sections-based analysis of the stability of the walking is adapted to nonlinear system with not fully available state variables.