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

0545899 - ÚTIA 2022 RIV NL eng C - Conference Paper (international conference)
Čelikovský, Sergej - Anderle, Milan
Chain of four integrators as a possible essence of the under-actuated planar walking.
IFAC-PapersOnLine. Volume 54, Issue 14 - 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021. Amsterdam: Elsevier, 2021, s. 60-65. ISSN 2405-8963.
[IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021 /3./. Tokyo (JP), 15.09.2021-17.09.2021]
R&D Projects: GA ČR(CZ) GA21-03689S
Institutional support: RVO:67985556
Keywords : Underactuated walking * Feedback linearization * Collocated virtual holonomic constraints
OECD category: Automation and control systems
http://library.utia.cas.cz/separaty/2021/TR/celikovsky-0545899.pdf

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.
Permanent Link: http://hdl.handle.net/11104/0322556