Organizational Unit:
Humanoid Robotics Laboratory
Humanoid Robotics Laboratory
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ItemMake Your Robot Talk Correctly: Deriving Models of Hybrid System(Georgia Institute of Technology, 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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ItemThe Motion Grammar: Linguistic Perception, Planning, and Control(Georgia Institute of Technology, 2011-06) Dantam, Neil ; Stilman, MikeWe 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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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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ItemDynamic Pushing Strategies for Dynamically Stable Mobile Manipulators(Georgia Institute of Technology, 2010-05) Kolhe, Pushkar ; Dantam, Neil ; Stilman, MikeThis paper presents three effective manipulation strategies for wheeled, dynamically balancing robots with articulated links. By comparing these strategies through analysis, simulation and robot experiments, we show that contact placement and body posture have a significant impact on the robot's ability to accelerate and displace environment objects. Given object geometry and friction parameters we determine the most effective methods for utilizing wheel torque to perform non-prehensile manipulation.
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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.