In order to realize stable walking bipedal robot on the uneven soil preparation

and improve the flexibility of biped robot

the mathematical model of the biped robot system is established.It is the impedance model on the basis of combining the sliding mode control and impedance control applied to the control of biped robot.Also

sliding mode impedance controller is designed based on impedance control model

established the controlled object model

the impedance model and control algorithm.Application of SIMULINK

respectively to the simulation of impedance control and sliding mode control

analyzes the two control methods of trajectory tracking.The simulation results show that using the designed sliding mode impedance controller has higher tracking precision and good robustness.