Formation Control of Four-Legged Robots Using Discrete-Valued Inputs

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.