On the Use of Hybrid Control for Legged Locomotion

Hybrid Systems and AI: Modeling Analysis and Control of Discrete Plus Continuous Systems

Volume

Papers from the 1999 AAAI Spring Symposium

Contents

In this paper, we develop a hybrid control approach for legged locomotion. We motivate the development of the control architecture using the results of a series of walking, running and obstacle climbing experiments conducted using a six legged robot called HEX. Our initial simulation results indicate the potential stability of the control approach, and our future analytical work should provide the formal proof of these results.