Composition of Templates for Transitional Legged Behaviors
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GRASP
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Electrical and Computer Engineering
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Systems Engineering
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Electrical and Computer Engineering
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Systems Engineering
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Basic Research Office of the Assistant Secretary of Defense for Research and Engineering
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Abstract
Compositional methods for developing, analyzing and synthesizing robot behaviors construed as controlled hybrid dynamical systems with regular properties [1] has proven an effective framework for achieving steady state gaits [2,3]. Exploiting their potential for programming transitional behaviors, requiring more complicated interactions with the environment [4,5] has been limited by our inability to find appropriate constituent models (“templates” [6]) from which to construct these complex behaviors.
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2020-05-14
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Departmental Papers (ESE)
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2023-05-18T00:44:34.000
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@article{topping2020, title={Composition of Templates for Transitional Legged Behaviors}, author={Topping, Thomas and Koditschek, D. E.}, journal={Dynamic Walking}, year={2020} }