Reference
B. Kersbergen,
G. A. D. Lopes,
T. J. J. van den Boom, B. De
Schutter, and R. Babuška, "Optimal gait switching for legged
locomotion,"
Proceedings of the 2011 IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS'11), San Francisco,
California, pp. 2729-2734, Sept. 2011.
Abstract
Switching gaits in many-legged robots can present challenges due to the
combinatorial nature of the gait space. In this paper we present an
intrinsically safe gait switching generator that minimizes the velocity
variance of all the legs in stance, allowing for smooth acceleration in legged
robots. The gait switching generator is modeled as a max-plus linear discrete
event system which is translated to continuous time via a reference trajectory
generator.
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BibTeX
@inproceedings{KerLop:11-034,
author = {Kersbergen, Bart and Lopes, Gabriel A. D. and van den Boom, Ton
J. J. and De Schutter, Bart and Babu{\v{s}}ka, Robert},
title = {Optimal Gait Switching for Legged Locomotion},
booktitle = {Proceedings of the 2011 IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS'11)},
address = {San Francisco, California},
pages = {2729--2734},
month = sep,
year = {2011}
}