Software system for the Mars 2020 mission sampling and caching testbeds

Edelberg, Kyle; Backes, Paul; Biesiadecki, Jeffrey J.; Brooks, Sawyer; Helmick, Daniel; Kim, Won; Litwin, Todd; Metz, Brandon; Reid, John E.; Sirota, Allen; Vieira, Peter

doi:10.1109/aero.2018.8396572

Cited by 13 publications

(1 citation statement)

References 6 publications

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“…There is a significant volume of literature, applications, and demonstrations of functional autonomous systems that perform a wide range of complex tasks, ranging from the unstructured environment of disaster-response motivated DARPA Robotics Challenge [1] to the highly structured environment of industrial manufacturing robotics [2]. These systems often use sequence-based [3], [4], state-machine based [5], or graph-based [6] autonomy to couple many discrete behaviors together to complete highly complex tasks. These applications are typically quasi-static or have dynamics which are self-contained within each primitive behavior; thus, task-level or pose states can be used to determine if transitions are safe, while dynamic states are not considered.…”

Section: Introductionmentioning

confidence: 99%

Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots

Csomay-Shanklin¹,

Molnár²,

Ames³

2021

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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 primitivesincluding standing up, walking, and jumping-and the transitions between these behaviors are experimentally realized on a quadrupedal robot.

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