Composition of Templates for Transitional Pedipulation Behaviors

Loading...
Thumbnail Image
Penn collection
Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
Degree type
Discipline
Subject
GRASP
Kodlab
Electrical and Computer Engineering
Engineering
Systems Engineering
Funder
This work was supported in part by ONR grant #N00014-16-1-2817, a Vannevar Bush Fellowship held by the last author, sponsored by the Basic Research Office of the Assistant Secretary of Defense for Research and Engineering, and in part by AFRL grant FA865015D1845 (subcontract 669737-1
Grant number
License
Copyright date
Distributor
Contributor
Abstract

Abstract. We document the reliably repeatable dynamical mounting and dismounting of wheeled stools and carts, and of fixed ledges, by the Minitaur robot. Because these tasks span a range of length scales that preclude quasi-static execution, we use a hybrid dynamical systems framework to variously compose and thereby systematically reuse a small lexicon of templates (low degree of freedom behavioral primitives). The resulting behaviors comprise the key competences beyond mere locomotion required for robust implementation on a legged mobile manipulator of a simple version of the warehouseman’s problem.

Advisor
Date of presentation
2019-09-05
Conference name
Departmental Papers (ESE)
Conference dates
2023-05-17T22:40:38.000
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
Journal Issue
Comments
Recommended citation
@InProceedings{topping_et_all_2019, Title = {{Composition of Templates for Transitional Pedipulation Behaviors}}, Author = {T. Turner Topping , V. Vasilopoulos, Avik De and D. E. Koditschek}, Booktitle = { International Symposium on Robotics Research (ISRR)}, Year = {2019}}
Collection