Chain of four integrators as a possible essence of the under-actuated planar walking ?

摘要

This paper continues the previously published research showing that for the three-link there always exist collocated virtual holonomic constraints for the torso and mechanical parameters readjustment such that the resulting restricted dynamics is state and feedback equivalent to the chain of four integrators. In such a way, the role of the torso in walking patterns design achieves nice and clear control-theoretic interpretation. To underline a potential of that interesting feature, a thorough numerical optimization based design of suitable trajectories for the integrator chains is performed in this paper. Successful solution is then used to design hybrid stable multi-step walking for the three-link demonstrated by the simulations as well.