Reference
G. A. D. Lopes, B. Kersbergen,
T. J. J. van den Boom, B. De
Schutter, and R. Babuška, "Modeling and control of legged locomotion via
switching max-plus models,"
IEEE Transactions on
Robotics, vol. 30, no. 3, pp. 652-665, June 2014.
Abstract
We present a gait generation framework for multi-legged robots based on
max-plus algebra that is endowed with intrinsically safe gait transitions. The
time schedule of each foot lift-off and touchdown is modeled by sets of
max-plus linear equations. The resulting discrete-event system is translated to
continuous time via piecewise constant leg phase velocities, thus, it is
compatible with traditional central pattern generator approaches. Different
gaits and gait parameters are interleaved by utilizing different max-plus
system matrices. We present various gait transition schemes, and show that
optimal transitions, in the sense of minimizing the stance time variation,
allow for constant acceleration and deceleration on legged platforms. The
framework presented in this paper relies on a compact representation of the
gait space, provides guarantees regarding the transient and steady-state
behavior, and results in simple implementations on legged robotic platforms.
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BibTeX
@article{LopKer:14-001,
author = {Lopes, Gabriel A. D. and Kersbergen, Bart 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
Models},
journal = {IEEE Transactions on Robotics},
volume = {30},
number = {3},
pages = {652--665},
month = jun,
year = {2014}
}