2013
RSS
RSS 2013
Correct Software Synthesis for Stable Speed-Controlled Robotic Walking
Abstract
We present a software synthesis method for speed-controlled robot walking based on supervisory control of a context-free Motion Grammar. First, we use Human-Inspired control to identify parameters for fixed speed walking and for transitions between fixed speeds, guaranteeing dynamic stability. Next, we build a Motion Grammar representing the discrete-time control for this set of speeds. Then, we synthesize C code from this grammar and generate supervisors online to achieve desired walking speeds, guaranteeing correctness of discrete computation. Finally, we demonstrate this approach on the Aldebaran NAO, showing stable walking transitions with dynamically selected speeds.
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Interdisciplinary Bridge
— Artificial Intelligence and Machine Learning
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Keyword Pioneer
— supervisory control
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Cross-Pollinator
— Artificial Intelligence, Deep Learning, Knowledge & Reasoning, Machine Learning, Reinforcement Learning, Robotics