Bart Kersbergen

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About

Bart Kersbergen is a leading researcher in the modeling and control of legged locomotion, with a particular focus on the mathematical foundations of gait generation and transition. His major contributions center on the application of max-plus algebra and discrete-event systems to create intrinsically safe and smooth gait transitions for multi-legged robots. Kersbergen's most influential work, "Modeling and Control of Legged Locomotion via Switching Max-Plus Models" (2014, 32 citations), introduces a novel framework where foot liftoff and touchdown schedules are modeled as sets of max-plus linear equations, enabling safe transitions between gaits. His earlier work on optimal gait switching (2011, 6 citations) addresses the combinatorial challenges of gait spaces by minimizing velocity variance during stance, allowing for smooth acceleration. Kersbergen's research has significant implications for the development of more agile and robust legged robots, bridging the gap between discrete-event control theory and practical robotic locomotion. His work continues to influence researchers seeking to improve the stability and efficiency of multi-legged robotic systems.