Organizational Unit:
Humanoid Robotics Laboratory
Humanoid Robotics Laboratory
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ItemAch: IPC for Real-Time Robot Control(Georgia Institute of Technology, 2011) Dantam, Neil ; Stilman, MikeWe 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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ItemEquations of Motion for Dynamically Stable Mobile Manipulators(Georgia Institute of Technology, 2010-12-14) Dantam, Neil ; Kolhe, Pushkar ; Stilman, Mike
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ItemThe Motion Grammar: Linguistic Perception, Planning, and Control(Georgia Institute of Technology, 2010) Dantam, Neil ; Stilman, MikeWe present the Motion Grammar: a novel unified representation for task decomposition, perception, planning, and hybrid control that provides a computationally tractable way to control robots in uncertain environments with guarantees on 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 game-play for matches up to six minutes.