(Georgia Institute of Technology, 2013-06)
Dantam, Neil; Hereid, Ayonga; Ames, Aaron; Stilman, Mike; Georgia Institute of Technology. Center for Robotics and Intelligent Machines; Texas A & M University. Department of Mechanical Engineering
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 supervisors¹ 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.