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Humanoid Robotics Laboratory

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Multi-Process Control Software for HUBO2 Plus Robot

2013-04 , Grey, M .X. , Dantam, Neil , Lofaro, Daniel M. , Bobick, Aaron F. , Egerstedt, Magnus B. , Oh, Paul , Stilman, Mike

Humanoid robots require greater software reliability than traditional mechantronic systems if they are to perform useful tasks in typical human-oriented environments. This paper covers a software architecture which distributes the load of computation and control tasks over multiple processes, enabling fail-safes within the software. These fail-safes ensure that unexpected crashes or latency do not produce damaging behavior in the robot. The distribution also offers benefits for future software development by making the architecture modular and extensible. Utilizing a low-latency inter-process communication protocol (Ach), processes are able to communicate with high control frequencies. The key motivation of this software architecture is to provide a practical framework for safe and reliable humanoid robot software development. The authors test and verify this framework on a HUBO2 Plus humanoid robot.

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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.