Stable walking gaits for a three-link planar biped robot with two actuators based on the collocated virtual holonomic constraints and the cyclic unactuated variable

摘要

Paper presents the current state of the laboratory model of the planar walking robot built in laboratory in UTIA. Moreover, it presents simulation results of the walkinglike movement of the simplified version - the so-called three-link, alternatively also called Acrobot with torso. Method for the walking design is based on the use of the collocated virtual holonomic constraints. Collocated constraints include the directly actuated variables only. Restricted system then conserves cyclic property of the unactuated variable and can be controlled using its three dimensional exact feedback linearization.