Organizational Unit:
Humanoid Robotics Laboratory

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Now showing 1 - 2 of 2
  • Item
    Correct Software Synthesis for Stable Speed-Controlled Robotic Walking
    (Georgia Institute of Technology, 2013-06) Dantam, Neil ; Hereid, Ayonga ; Ames, Aaron ; Stilman, Mike
    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.
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    Linguistic Transfer of Human Assembly Tasks to Robots
    (Georgia Institute of Technology, 2012-10) Dantam, Neil ; Essa, Irfan ; Stilman, Mike
    We demonstrate the automatic transfer of an assembly task from human to robot. This work extends efforts showing the utility of linguistic models in verifiable robot control policies by now performing real visual analysis of human demonstrations to automatically extract a policy for the task. This method tokenizes each human demonstration into a sequence of object connection symbols, then transforms the set of sequences from all demonstrations into an automaton, which represents the task-language for assembling a desired object. Finally, we combine this assembly automaton with a kinematic model of a robot arm to reproduce the demonstrated task.