Generation of Strict Stealth Walking Gait Using Upper Body and Reaction Wheel ?

摘要

This paper proposes a novel method for easily generating a strict stealth walking gait of an underactuated rimless wheel (URW) by temporally controlling the stance-leg angle using an additional control torque. First, we introduce a 3-DOF URW model with a reaction wheel that can utilize two control torques, and describe the equation of motion. Second, we develop a controller for achieving strict output-following control of the stance-leg angle and angular momentum constraint control simultaneously. Third, we derive an approximate analytical solution of the target initial states of the upper body and reaction wheel. Furthermore, we propose a simple numerical procedure for identifying the target initial state of the nonlinear model, and show the effectiveness through numerical simulations.