B. Kersbergen, G.A.D. Lopes, T.J.J. van den Boom, B. De Schutter, and R. Babuska, "Optimal gait switching for legged locomotion," Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11), San Francisco, California, pp. 2729-2734, Sept. 2011.
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.