Adaptive Gait Switching Control Structure using Max Plus in Legged Locomotion

The ZeBRo (Dutch abbreviation: Zesbenige Robot, six-legged robot), is a walking robot designed by the TU Delft, with its foundations on the RHex. The current version of the ZeBRo project, the DeciZebro, is made for the research to swarming in robotics, and is about the size of an A4-paper. <br/>To counter these shortcomings of CPG (a method to...

Gait Chaotification

In multi-legged robots, such as the Zebro robot from TU Delft Robotics Institute, locomotion can be addressed as a Max-Plus Linear (MPL) system. In such MPL systems the gait is generated and controlled by abstracting the continuous motion of the legs to the occurrences of discrete touch-down and lift-off events, which are subsequently described...