Turning of a Legged Robot via a Switching Max-Plus Linear System: Simulation and Implementation

Legged locomotion is an example of a discrete event system (DES) with only synchronization and no concurrency. This particular kind of DES can be framed in max-plus algebra, which consists of maximization and addition as its basic operations. Utilizing the max-plus operations between matrices, max-plus linear (MPL) system is constructed.<br/><br...