Abstract
This letter addresses a formation control problem of four-legged robots with discrete-valued inputs. Four-legged robots have the potential for completing tasks on non-flat terrains, while their position control is achieved by switching between specific movements, i.e., discrete-valued signals. This implies that existing results assuming the use of continuous-valued inputs are not available. We present a solution to this control problem by combining conventional formation controllers with dynamic quantization. The resulting feedback system is then analyzed based on a performance index describing the difference between the systems with and without quantization. As a result, we can estimate the effects of the quantization on the behavior of the system and guarantee its stability.
Highlights
F ORMATION control of multi-robot systems—steering robots to form a desired configuration—has become a major topic in the field of control systems
Four-legged robots can travel on non-flat terrains compared to wheeled robots because they can adjust the height of the tip of each leg according to the terrains
Using four legs is reasonable with respect to stability and cost. It is difficult for two-legged robots to maintain stability while moving one leg, but using too many legs increases the cost of hardware and energy supply
Summary
F ORMATION control of multi-robot systems—steering robots to form a desired configuration—has become a major topic in the field of control systems. This robot can perform forward, backward, and lateral movements and rotations using its four legs. Four-legged robots can travel on non-flat terrains compared to wheeled robots because they can adjust the height of the tip of each leg according to the terrains. This is especially advantageous in outdoor applications. Using four legs is reasonable with respect to stability and cost It is difficult for two-legged robots to maintain stability while moving one leg, but using too many legs increases the cost of hardware and energy supply
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