Dynamically Stable Legged Locomotion (September 1985-September 1989)
Dynamically Stable Legged Locomotion (September 1985-September 1989)
Introduction to Discrete Event Systems
Introduction to Discrete Event Systems
Free gait generation with reinforcement learning for a six-legged robot
Robotics and Autonomous Systems
| Hi-index | 0.00 |
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.