STW project. Partners: Evolved Analytics, ASML, NI, FMTC

Legged locomotion via Max-Plus Algebras

We have developed 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.

Relevant publications:

  • G.A.D. Lopes, B. Kersbergen, T. van den Boom, B. De Schutter, and R. Babuska. On the eigenstructure of a class of max-plus linear systems. IEEE Conference on Decision and Control, 2011

  • B. Kersbergen, G.A.D. Lopes, T.J.J. van den Boom, B. De Schutter, and R. Babuska. Optimal gait switching for legged locomotion. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

  • G.A.D. Lopes, T.J.J. van den Boom, B. De Schutter, and R. Babuska. Modeling and Control of Legged Locomotion via Switching Max-Plus Systems. Accepted to International Workshop on Discrete Event Systems, 2010

  • G.A.D. Lopes, R. Babuska, B. De Schutter, and A.J.J. van den Boom. Switching max-plus models for legged locomotion. In Proc. of IEEE Int. Conf. on Robotics and Biomimetics, pages 221–226, Guilin, China, December 2009.

Zebro robot

The Zebro project continues the research on the RHex Robot by addressing novel challenges in modeling and control.