Departmental Papers (ESE)



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.

Sponsor Acknowledgements

Basic Research Office of the Assistant Secretary of Defense for Research and Engineering

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

Dynamic Walking Conference

Copyright/Permission Statement

Open Access

Bib Tex

@article{topping2020, title={Composition of Templates for Transitional Legged Behaviors}, author={Topping, Thomas and Koditschek, D. E.}, journal={Dynamic Walking}, year={2020} }



Date Posted: 28 May 2021

This document has been peer reviewed.