Departmental Papers (ESE)



We propose the idea of a discrete navigation problem – consisting of controlling the state of a discrete-time control system to reach a goal set while in the interim avoiding a set of obstacle states – to approximate a simplified class of transitional legged robotic tasks such as leaping which have no well established mathematical description that lends itself to synthesis. The control relation given in Theorem 1 is (assuming a task solution exists) necessary and sufficient to solve a discrete navigation problem in a minimum number of steps, and is well suited to computation when a legged system’s continuous-time within-stride controller anchors sufficiently simple stance mechanics. We demonstrate the efficacy of this control technique on a physical hopping robot affixed to a boom to reactively leap over an obstacle with a running start, controlling in continuous time during stance to exhibit a linear stance map.

Sponsor Acknowledgements

This work was supported in part by the National Science Foundation Graduate Research Fellowship under Grant No. DGE-0822 held by the first author and in part by the Army Research Office under Grant No. W911NF-17-1-0229.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

2017 International Symposium on Robotics Research


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Bib Tex

@inproceedings{duperret_isrr_2017, author = {Jeffrey Duperret and Daniel E. Koditschek}, title = {Towards Reactive Control of Transitional Legged Robot Maneuvers}, booktitle = {International Symposium on Robotics Research}, month = {December}, year = {2017}, location = {Puerto Varas, Chile}, note = {In press} }



Date Posted: 20 February 2018

This document has been peer reviewed.