Title:
The Motion Grammar: Analysis of a Linguistic Method for Robot Control
The Motion Grammar: Analysis of a Linguistic Method for Robot Control
Author(s)
Dantam, Neil
Stilman, Mike
Stilman, Mike
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Abstract
We present the Motion Grammar: an approach to
represent and verify robot control policies based on Context-Free
Grammars. The production rules of the grammar represent a
top-down task decomposition of robot behavior. The terminal
symbols of this language represent sensor readings that are
parsed in real-time. Efficient algorithms for context-free parsing
guarantee that online parsing is computationally tractable. We
analyze verification properties and language constraints of this
linguistic modeling approach, show a linguistic basis that unifies
several existing methods, and demonstrate effectiveness through
experiments on a 14-DOF manipulator interacting with 32 objects
(chess pieces) and an unpredictable human adversary. We provide
many of the algorithms discussed as Open Source, permissively
licensed software. ¹
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Date Issued
2013-06
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Post-print