Reference:
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," Proceedings of the 10th International Workshop on
Discrete Event Systems (WODES 2010), Berlin, Germany, pp.
382-387, Aug.-Sept. 2010.
Abstract:
We present 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.