Title:
Correct Software Synthesis for Stable Speed-Controlled Robotic Walking
Correct Software Synthesis for Stable Speed-Controlled Robotic Walking
| dc.contributor.author | Dantam, Neil | |
| dc.contributor.author | Hereid, Ayonga | |
| dc.contributor.author | Ames, Aaron | |
| dc.contributor.author | Stilman, Mike | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.contributor.corporatename | Texas A & M University. Department of Mechanical Engineering | en_US |
| dc.date.accessioned | 2013-07-02T17:45:48Z | |
| dc.date.available | 2013-07-02T17:45:48Z | |
| dc.date.issued | 2013-06 | |
| dc.description | Presented at the 2013 Robotics: Science and Systems Conference VII (RSS), 24-28 June 2013, Berlin, Germany. | en_US |
| dc.description.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. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Dantam, N., Hereid, A., Ames, A. & Stilman, M. (2013). "Correct Software Synthesis for Stable Speed-Controlled Robotic Walking". Proceedings of the 2013 Robotics: Science and Systems Conference IX (RSS), 24-28 June 2013. Online. | en_US |
| dc.identifier.isbn | ISBN 978-981-07-3937-9 (online) | |
| dc.identifier.uri | http://hdl.handle.net/1853/48196 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.subject | Motion Grammar | en_US |
| dc.subject | Robotic walking | en_US |
| dc.subject | Robotics | en_US |
| dc.subject | Speed-controlled | en_US |
| dc.subject | Speed walking | en_US |
| dc.title | Correct Software Synthesis for Stable Speed-Controlled Robotic Walking | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | Humanoid Robotics Laboratory | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| local.contributor.corporatename | Advanced Mechanical Bipedal Experimental Robotics Lab | |
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