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Aaron Johnson

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Robot Parkour: The Ground Reaction Complex & Dynamic Transitions

Dynamic Walking, June, 2013.

Aaron M. Johnson and D. E. Koditschek
University of Pennsylvania

Full PDF | Conference Site | Penn Scholarly Commons

Abstract
      Many locomotion tasks on real, complex terrain are poorly modeled as deviations from limit cycles of steady state running. As obstacles become larger and larger relative to leg length, every step is novel and challenging: the leap onto a ledge in Fig. 1 is quite unlike any running step. We seek to organize and systematically reduce this space to a finite set of dynamic transition “words” in order to enable dramatic outdoor transitional behaviors.
      This work was supported by the ARL/GDRS RCTA project under Cooperative Agreement W911NF-10–2−0016.
BibTeX entry
@inproceedings{johnson_dw_2013,
  title     = {Robot Parkour: The Ground Reaction Complex \& Dynamic Transitions},
  booktitle   = {Dynamic Walking},
  year      = {2013},
  author    = {Aaron M Johnson and D E Koditschek},
  month      = {June}
}

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