Topping, Thomas TVasilopoulos, VasileiosDe, AvikKoditschek, Daniel E.2023-05-222023-05-222019-09-052019-09-05https://repository.upenn.edu/handle/20.500.14332/34107Abstract. We document the reliably repeatable dynamical mounting and dismounting of wheeled stools and carts, and of fixed ledges, by the Minitaur robot. Because these tasks span a range of length scales that preclude quasi-static execution, we use a hybrid dynamical systems framework to variously compose and thereby systematically reuse a small lexicon of templates (low degree of freedom behavioral primitives). The resulting behaviors comprise the key competences beyond mere locomotion required for robust implementation on a legged mobile manipulator of a simple version of the warehouseman’s problem.flash_audioGRASPKodlabElectrical and Computer EngineeringEngineeringSystems EngineeringPresentation