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Humanoid Robotics Laboratory

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Author: Dantam, Neil × Author: Stilman, Mike × End date: 2011 × Start date: 2011 ×

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Make Your Robot Talk Correctly: Deriving Models of Hybrid System

2011-07 , Dantam, Neil , Stilman, Mike , Egerstedt, Magnus B.

Using both formal language and differential equations to model a robotic system, we introduce a calculus of transformation rules for the symbolic derivation of hybrid controllers. With a Context-Free Motion Grammar, we show how to test reachability between different regions of state-space and give several symbolic transformations to modify the set of event strings the system may generate. This approach lets one modify the language of the hybrid system, providing a way to change system behavior so that it satisfies linguistic constraints on correct operation.

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The Motion Grammar: Linguistic Perception, Planning, and Control

2011-06 , Dantam, Neil , Stilman, Mike

We present and analyze the Motion Grammar: a novel unified representation for task decomposition, perception, planning, and control that provides both fast online control of robots in uncertain environments and the ability to guarantee completeness and correctness. The grammar represents a policy for the task which is parsed in real-time based on perceptual input. Branches of the syntax tree form the levels of a hierarchical decomposition, and the individual robot sensor readings are given by tokens. We implement this approach in the interactive game of Yamakuzushi on a physical robot resulting in a system that repeatably competes with a human opponent in sustained gameplay for the roughly six minute duration of each match.

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Ach: IPC for Real-Time Robot Control

2011 , Dantam, Neil , Stilman, Mike

We present a new Inter-Process Communication (IPC) mechanism and library. Ach is uniquely suited for coordinating perception, control drivers, and algorithms in real-time systems that sample data from physical processes. Ach eliminates the Head-of-Line Blocking problem for applications that always require access to the newest message. Ach is efficient, robust, and formally verified. It has been tested and demonstrated on a variety of physical robotic systems. Finally, the source code for Ach is available under an Open Source BSD-style license.

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