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Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots

Ubellacker, Wyatt and Csomay-Shanklin, Noel and Molnár, Tamás G. and Ames, Aaron D. (2021) Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots. . (Unpublished)

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Functional autonomous systems often realize complex tasks by utilizing state machines comprised of discrete primitive behaviors and transitions between these behaviors. This architecture has been widely studied in the context of quasi-static and dynamics-independent systems. However, applications of this concept to dynamical systems are relatively sparse, despite extensive research on individual dynamic primitive behaviors, which we refer to as "motion primitives." This paper formalizes a process to determine dynamic-state aware conditions for transitions between motion primitives in the context of safety. The result is framed as a "motion primitive graph" that can be traversed by standard graph search and planning algorithms to realize functional autonomy. To demonstrate this framework, dynamic motion primitives -- including standing up, walking, and jumping -- and the transitions between these behaviors are experimentally realized on a quadrupedal robot.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Csomay-Shanklin, Noel0000-0002-2361-1694
Molnár, Tamás G.0000-0002-9379-7121
Ames, Aaron D.0000-0003-0848-3177
Additional Information:This research is supported by DOW Chemical, project 227027AT.
Funding AgencyGrant Number
Dow Chemical Company227027AT
Record Number:CaltechAUTHORS:20210723-170216413
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:109994
Deposited By: Tony Diaz
Deposited On:26 Jul 2021 19:12
Last Modified:26 Jul 2021 19:12

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