Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots
Wyatt Ubellacker,Noel Csomay-Shanklin,Tamas G. Molnar,Aaron D. Ames,Wyatt Ubellacker,Noel Csomay-Shanklin,Tamas G. Molnar,Aaron D. Ames
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 d...
