Departmental Papers (ESE)


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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.

Sponsor Acknowledgements

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

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

The International Symposium on Robotics Research (ISRR ’19)

Bib Tex

@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}}



Date Posted: 18 September 2019

This document has been peer reviewed.