Correct Software Synthesis for Stable Speed-Controlled Robotic Walking

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Dantam, Neil
Hereid, Ayonga
Ames, Aaron
Stilman, Mike
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http://hdl.handle.net/1853/48196
Abstract
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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2013-06
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