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300tube glopesmovies   5 November, 2010
  1,621

Legged Locomotion via Max-Plus Algebras - Part II

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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.

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