Adaptive Control of Walking Robots Based on Virtual Holonomic Constraints: a Simulative Study

摘要

In this paper an adaptive schene for the dynamic control of underactuated walkingrobots with impulse effects is proposed and illustrated for the case of a three-link robot withunknown torso mass. The proposed strategy is based on the uirtual control technique,wherefictitious control inputs and outputs are defined, which allow the design of a fully actuated-like control law; the reference signals for the virtual outputs are chosen as the solutions ofa dynamic constraint,on which the fictitious controls are zero. The validity of the proposedmethod is motivated by Lyapunov arguments and tested by simulations.