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.

翻译：功能性自主系统通常通过状态机实现复杂任务，该状态机由离散的基元行为及行为间的转换构成。这一架构已在准静态和动力学无关系统中得到广泛研究。然而，尽管针对单个动态基元行为（本文称之为"运动基元"）的研究已相当深入，该概念在动力学系统中的应用仍相对稀少。本文提出了一种形式化流程，用于在安全约束下确定运动基元间转换的动态状态感知条件。该成果被构建为"运动基元图"，可通过标准图搜索与规划算法进行遍历，从而实现功能性自主。为验证该框架，我们在四足机器人上实验实现了包含站立、行走、跳跃在内的动态运动基元及其行为间的转换。