Self-adaptive Walking Speed Control on Underactuated Rimless Wheel

In this paper, a Self-adaptive walking system is proposed to achieve the target speed rapidly and robustly on an underactuated walker. First, the walker, Underactuated Rimless Wheel (URW) with torso, is introduced, and its equation of motion is analyzed. Second, the Self-adaptive speed control system is proposed by dynamically planning the gait trajectory and updating control parameters in real-time. Finally, the simulations are conducted to verify our control system and its capability of the disturbance rejection. As a result, the Selfadaptive speed control system can rapidly control the walking speed and handle the disturbance on URW walker with 0.5% steady-state error.