Switching Max-Plus models for legged locomotion

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...

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Bibliographic Details
Published in2009 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 221 - 226
Main Authors Lopes, G., Babuska, R., De Schutter, B., van den Boom, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2009
Subjects
Algebra
Biomimetics
Control system analysis
Discrete event systems
Equations
Horses
Leg
Legged locomotion
Limit-cycles
Power system modeling
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Summary: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.
ISBN:9781424447749
1424447747
DOI:10.1109/ROBIO.2009.5420626