Adaptive Control of Walking Robots Based on Virtual Holonomic Constraints: a Simulative Study. Issue 22 (2019)

• Record Type: Journal Article
• Authors: Gnucci, M.; Marino, R.
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 22(2019)
• Page Start: 61
• Page End: 66
• Publication Date: 2019
• Subjects: Adaptive control -- Walking -- Robots -- hybrid systems -- parameter estimation; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.11.048
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper an adaptive scheme for the dynamic control of underactuated walking robots with impulse effects is proposed and illustrated for the case of a three-link robot with unknown torso mass. The proposed strategy is based on the virtual control technique, where fictitious 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 of a dynamic constraint, on which the fictitious controls are zero. The validity of the proposed method is motivated by Lyapunov arguments and tested by simulations.