Switching Max-Plus Models for Legged Locomotion
Reference
G.A.D. Lopes,
R. Babuška,
B. De Schutter, and
A.J.J. van den Boom,
"Switching Max-Plus Models for Legged Locomotion," Proceedings of the 2009 IEEE International Conference on
Robotics and Biomimetics (ROBIO 2009), Guilin, China, pp.
221-226, Dec. 2009.
Abstract
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.
Downloads
- Corresponding technical report:
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Bibtex entry
@inproceedings{LopBab:09-045,
author={G.A.D. Lopes and R. Babu{\v{s}}ka and B. {D}e Schutter and A.J.J. van
den Boom},
title={Switching Max-Plus Models for Legged Locomotion},
booktitle={Proceedings of the 2009 IEEE International Conference on Robotics and
Biomimetics (ROBIO 2009)},
address={Guilin, China},
pages={221--226},
month=dec,
year={2009}
}
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