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.
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