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Humanoid Robotics Laboratory
Humanoid Robotics Laboratory
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Make Your Robot Talk Correctly: Deriving Models of Hybrid System
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.