Reference
G. A. D. Lopes,
T. J. J. van den Boom, B. De Schutter,
and R. Babuška, "Modeling and control of legged locomotion via switching
max-plus systems,"
Proceedings of the 10th International
Workshop on Discrete Event Systems (WODES 2010), Berlin, Germany, pp.
382-387, Aug.-Sept. 2010.
Abstract
We present a class of gait generation and control algorithms based on the
Switching Max-Plus modeling framework that allow for the synchronization of
multiple legs of walking robots. Transitions between stance and swing phases of
each leg are modeled as discrete events in a system described by
max-plus-linear state equations. Different gaits can be systematically
generated and interleaved during motion by switching between different system
matrices. We show that such gait switching can be done in an optimal way,
minimizing the tip leg velocity variation for all legs simultaneously touching
the ground.
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BibTeX
@inproceedings{Lopvan:10-038,
author = {Lopes, Gabriel A. D. and van den Boom, Ton J. J. and De
Schutter, Bart and Babu{\v{s}}ka, Robert},
title = {Modeling and Control of Legged Locomotion via Switching
Max-Plus Systems},
booktitle = {Proceedings of the 10th International Workshop on Discrete
Event Systems (WODES 2010)},
address = {Berlin, Germany},
pages = {382--387},
month = aug # {--} # sep,
year = {2010}
}