(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.
(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.