Optimal gait switching for legged locomotion

Switching gaits in many-legged robots can present challenges due to the combinatorial nature of the gait space. In this paper we present an intrinsically safe gait switching generator that minimizes the velocity variance of all the legs in stance, allowing for smooth acceleration in legged robots. T...

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Bibliographic Details
Main Authors: Kersbergen, B., Lopes, G.A.D., van den Boom, T.J.J., De Schutter, B., Babuska, R.
Format: Conference Proceeding
Language:English
Subjects:
Algebra
Equations
Legged locomotion
Mathematical model
Switches
Synchronization
Online Access:Request full text
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Description
Summary:Switching gaits in many-legged robots can present challenges due to the combinatorial nature of the gait space. In this paper we present an intrinsically safe gait switching generator that minimizes the velocity variance of all the legs in stance, allowing for smooth acceleration in legged robots. The gait switching generator is modeled as a max-plus linear discrete event system which is translated to continuous time via a reference trajectory generator.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2011.6095166