Many locomotion tasks on real, complex terrain are poorly modeled as deviations from limit cycles of steady state running. As obstacles become larger and larger relative to leg length, every step is novel and challenging: the leap onto a ledge in Fig. 1 is quite unlike any running step. We seek to organize and systematically reduce this space to a finite set of dynamic transition “words” in order to enable dramatic outdoor transitional behaviors. For moreinformation: Kod*Lab