Departmental Papers (ESE)
Image
Abstract
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
5-14-2020
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.