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Figure 10. The tracking effect of joint motion in the adaptive sliding mode control (SMC).

Figure 11. The comparisons of system input torque. (A) with adaptive sliding mode control (SMC); (B) without adaptive SMC.

6. CONCLUSIONS
The problem of external disturbance uncertainties will affect the stability during dynamic walking, which has
greatly limited the application and efficiency of robots. In this paper, the robust and efficient walking of biped
robots is investigated. The robust walking model will be optimized, which provides a theoretical basis for
flexible and stable humanoid walking. The focus is on the following aspects: (1) analyzing the mechanism of
disturbances and studying robust control strategies from the perspective of theoretical analysis; (2) transform-
ing the target of stable biped walking into the problem of stabilization of periodic orbits and through stability
analysis; (3) constructing the autonomous evolution mechanism based on hybrid robust control to realize
adaptive optimization of walking models. The verification of the proposed control method is conducted by
simulations. Infuturework, a morehuman-like walking gaitwill be designed to achieve moreefficientwalking.
The external disturbance has been considered as an unknown uncertainty, and an uncertainty observer will
be designed for efficient learning and dynamic response.