Can I leave with children to another state legally, if in abusive marriage?

I am married (7 1/2 years) to a very emotionally abusive ( names (few ex: C*#^, B!^@#, idiot/stupid, waste of sperm, trash, useless, 'mother of the year', Scum bag, etc..), character assignation ( spic, ugly, worthless, fat @$$, etc..) discrediting my thoughts or opinions most times, insulting my family, etc.) and mildly physically abusive on a rare occasion( Putting his hand around my neck (while pregnant with 1st), pushing me onto a glass table(didn't break), poking me in the eye or face, throwing (trying to break it) my cell phone and then beating it with a plastic bat another time, pinning me to the couch with his knee against my chest and neck - holding my arms down, blocking me in rooms, spit at my face, etc....) Those times I am admittedly scared of him, of how far he 'could' go ( you see it in his eyes ) but act as if I am not because I fear it could fuel more aggression if I cower. I stand up to him, knowing if he decides to I would have very little to do. I look at it as Jeckel and Hyde- one minute he's sweet and normal, then the stupidest thing, ( the lid was open on the wipes container or I want plain water not flavored for quenching thirst while we do yard work) will set him off. Most often but not always it's like walking on eggshells. I feel like I am doing something wrong or he'll find fault in it somehow, so I avoid things that may set him off, even lying to him. He has said some threatening things to me, more about what he would do should I try to take half of his things if we ever divorced ( though I want nothing in that case besides the children anyway.) Yet I am not sure if it's just a tough act on his part. He says irrational things about others too, like wishing that certain neighbors would die in a house fire because they're worthless druggies. I do have to admit I love him and know deep down he is a good man, showing it in our marriage too at times.