Optimal gait switching for legged locomotion

被引：0
|
作者：
Kersbergen, B. [1 ]
Lopes, G. A. D. [1 ]
van den Boom, T. J. J. [1 ]
De Schutter, B. [1 ]
Babuska, R. [1 ]
机构：
[1] Delft Univ Technol, Delft Ctr Syst & Control, NL-2600 AA Delft, Netherlands
来源：
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2011年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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.
引用
收藏
页码：2729 / 2734
页数：6
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