Reference
G. A. D. Lopes, R. Babuška,
B. De Schutter, and
A. J. J. van
den Boom, "Switching max-plus models for legged locomotion,"
Proceedings of the 2009 IEEE International Conference on Robotics
and Biomimetics (ROBIO 2009), Guilin, China, pp. 221-226, Dec. 2009.
Abstract
We present a new class of gait generation and control algorithms based on the
Switching Max-Plus modeling framework that allows for the synchronization of
multiple legs of walking robots. Transitions between stance and swing phases of
each leg are modeled as discrete events on a system described by
max-plus-linear state equations. Different gaits and gait parameters can be
interleaved by using different system matrices. Switching in max-plus-linear
systems offers a powerful collection of modeling, analysis, and control tools
that, in particular, allow for safe transitions between different locomotion
gaits that may involve breaking/enforcing synchronization or changing the order
of leg lift off events. Experimental validation of the proposed algorithms is
presented by the implementation of various horse gaits on a simple quadruped
robot.
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BibTeX
@inproceedings{LopBab:09-045,
author = {Lopes, Gabriel A. D. and Babu{\v{s}}ka, Robert and De Schutter,
Bart and van den Boom, A. J. J.},
title = {Switching Max-Plus Models for Legged Locomotion},
booktitle = {Proceedings of the 2009 IEEE International Conference on
Robotics and Biomimetics (ROBIO 2009)},
address = {Guilin, China},
pages = {221--226},
month = dec,
year = {2009}
}