Toward a Vocabulary of Legged Leaping

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Departmental Papers (ESE)
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Electrical and Computer Engineering
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This work was supported by the ARL/GDRS RCTA project under Cooperative Agreement Number W911NF-10–2−0016.
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Johnson, Aaron M.
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As dynamic robot behaviors become more capable and well understood, the need arises for a wide variety of equally capable and systematically applicable transitions between them. We use a hybrid systems framework to characterize the dynamic transitions of a planar “legged” rigid body from rest on level ground to a fully aerial state. The various contact conditions fit together to form a topologically regular structure, the “ground reaction complex”. The body’s actuated dynamics excite multifarious transitions between the cells of this complex, whose regular adjacency relations index naturally the resulting “leaps” (path sequences through the cells from rest to free flight). We exhibit on a RHex robot some of the most interesting “words” formed by these achievable path sequences, documenting unprecedented levels of performance and new application possibilities that illustrate the value of understanding and expressing this vocabulary systematically. For more information: Kod*Lab

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2013-05-01
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Departmental Papers (ESE)
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2023-05-17T08:16:38.000
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BibTeX entry @inproceedings{paper:johnson-icra-2013, author = {Aaron M. Johnson and D E Koditschek}, title = {Toward a Vocabulary of Legged Leaping}, booktitle = {Proceedings of the 2013 IEEE Intl. Conference on Robotics and Automation}, month = {May}, year = {2013}, pages = {2553--2560} } Copyright 2013 IEEE. Reprinted from Proceedings of the 2013 IEEE International Conference on Robotics and Automation . This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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